• 제목/요약/키워드: DVL

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무인잠수정의 수중합법을 위한 센서융합 (Sensor Fusion for Underwater Navigation of Unmanned Underwater Vehicle)

  • 서주노
    • 한국군사과학기술학회지
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    • 제8권4호
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    • pp.14-23
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    • 2005
  • In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.

속도필터 적용 수중운동체 복합항법 알고리즘 개발 (Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter)

  • 유태석;정규필;윤선일
    • 한국해양공학회지
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    • 제27권2호
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    • pp.93-99
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    • 2013
  • This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.

고속 수중운동체 정밀 유도제어를 위한 항법성능 분석 (Performance Analysis of Navigation System for Guidance and Control of High Speed Underwater Vehicle System)

  • 홍성표;한용수
    • 한국정보통신학회논문지
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    • 제17권9호
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    • pp.2227-2232
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    • 2013
  • 유도제어 시스템 체계개발의 초기단계에는 운용 효과도 도출 및 요구사항 적합성 검토를 통한 체계 개략사양도출을 위해 효과도 분석을 수행한다. 본 논문의 목표는 M&S (Modeling & Simulation)를 활용한 운용 효과도 분석을 통해 고속 무인 수중운동체의 목표점 도달 임무를 위한 체계 요구사항 도출이다. 운용 효과도는 대상 수중운동체의 목표점 도달 정확도로 정의한다. 도달 정확도에 가장 큰 영향을 미칠 것으로 예상되는 변수는 항법센서 성능이다. 본 논문에서는 관성항법센서(Inertial Navigation Sensor, INS)와 도플러 속도 측정 장치(Doppler Velocity Log, DVL)를 이용한 복합항법을 고려하였다. 몬테카를로 수치 시뮬레이션을 통해 항법센서 성능에 대한 효과도 분석을 수행한다. 몬테카를로 수치 시뮬레이션 결과는 CEP(Circular Error Probability)와 분산을 이용한 확률분석을 통해 분석한다. 상용 항법센서 가격을 고려하여 최적의 가격대 성능비를 갖는 항법센서 성능을 제시한다.

수중 자율이동체의 장시간 수중항법 성능 개선을 위한 표준 수력학 모델 기반 속도 추정필터 설계 (Gertler-Hagen Hydrodynamic Model Based Velocity Estimation Filter for Long-term Underwater Navigation Without External Position Fix)

  • 이윤하;나원상;김광훈;안명환;이범직
    • 전기학회논문지
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    • 제65권11호
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    • pp.1868-1878
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    • 2016
  • This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험 (Rotating Arm Test for Assessment of an Underwater Hybrid Navigation System for a Semi-Autonomous Underwater Vehicle)

  • 이종무;이판묵;김시문;홍석원;서재원;성우제
    • 한국해양공학회:학술대회논문집
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    • 한국해양공학회 2003년도 춘계학술대회 논문집
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    • pp.141-148
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    • 2003
  • This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

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간접 되먹임 필터를 이용한 관성센서 및 초음파 속도센서 기반의 수중 복합항법 시스템 (Underwater Hybrid Navigation System Based on an Inertial Sensor and a Doppler Velocity Log Using Indirect Feedback Kalman Filter)

  • 이종무;이판묵;성우제
    • 한국해양공학회:학술대회논문집
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    • 한국해양공학회 2003년도 춘계학술대회 논문집
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    • pp.149-156
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    • 2003
  • This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

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초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템 (A Hybrid Navigation System for Underwater Unmanned Vehicles, Using a Range Sonar)

  • 이판묵;전봉환;김시문;이종무;임용곤;양승일
    • 한국해양공학회지
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    • 제18권4호
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    • pp.33-39
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    • 2004
  • This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

무인자율수중운동체의 보정항법을 위한 축소된 오차 모델 (Reduced Error Model for Integrated Navigation of Unmanned Autonomous Underwater Vehicle)

  • 박용곤;강철우;이달호;박찬국
    • 제어로봇시스템학회논문지
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    • 제20권5호
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    • pp.584-591
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    • 2014
  • This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

다중센서융합 기반의 심해무인잠수정 정밀수중항법 구현 (Implementation of Deep-sea UUV Precise Underwater Navigation based on Multiple Sensor Fusion)

  • 김기훈;최현택;이종무;김시문;이판묵;조성권
    • 한국해양공학회지
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    • 제24권3호
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    • pp.46-51
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    • 2010
  • This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.

전압 크기의 품질 및 전력수요 변동모델을 고려한 배전계통의 통합적인 신뢰도 및 비용 평가 (Unified Reliability and Its Cost Evaluation in Power Distribution Systems Considering the Voltage Magnitude Quality and Demand Varying Load Model)

  • Yun, Sang-Yun
    • 대한전기학회논문지:전력기술부문A
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    • 제52권12호
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    • pp.705-712
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    • 2003
  • In this paper, we propose new unified methodologies of reliability and its cost evaluation in power distribution systems. The unified method means that the proposed reliability approaches consider both conventional evaluation factor, i.e. sustained interruptions and additional ones, i.e. momentary interruptions and voltage sags. Because the three voltage quality phenomena generally originate from the outages on distribution systems, the basic and additional reliability indices are summarized considering the fault clearing mechanism. The proposed unified method is divided into the reliability evaluation for calculating the reliability indices and reliability cost evaluation for assessing the damage of customer. The analytic and probabilistic methodologies are presented for each unified reliability and its cost evaluation. The time sequential Monte Carlo technique is used for the probabilistic method. The proposed DVL(Demand Varying Load) model is added to the reliability cost evaluation substituting the average load model. The proposed methods are tested using the modified RBTS(Roy Billinton Test System) form and historical reliability data of KEPCO(Korea Electric Power Corporation) system. The daily load profile of the each customer type in domestic are gathered for the DVL model. Through the case studies, it is verified that the proposed methods can be effectively applied to the distribution systems for more detail reliability assessment than conventional approaches.