• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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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.

• Journal of Ocean Engineering and Technology
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• v.17 no.4
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an 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. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. 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.

• Special Issue of the Society of Naval Architects of Korea
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• 2015.09a
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• pp.28-33
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• 2015

Speed log measurement has always been of utmost importance to the mariners. To date the most accurate maritime speed measurement comes from Doppler measurement, where speed may be measured relative to either water(speed through water) or seabed(speed over ground). Recently, a clarification has been issued by the International Maritime Organization (IMO) regarding the speed measuring devices, which could ultimately impact the final arrangement of these devices for ships being constructed after July 1, 2014. This paper will discuss the clarification in depth and necessary action which shall be taken by the owners and operators of the ships impacted.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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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.

• The Journal of the Acoustical Society of Korea
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• v.38 no.4
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• pp.433-441
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• 2019

In this paper, a method of estimating speech parameters for ultrasonic Doppler signals reflected from the articulatory muscles using LSTM (Long Short Term Memory) RNN (Recurrent Neural Networks) was introduced and compared with the method using MLP (Multi-Layer Perceptrons). LSTM RNN were used to estimate the Fourier transform coefficients of speech signals from the ultrasonic Doppler signals. The log energy value of the Mel frequency band and the Fourier transform coefficients, which were extracted respectively from the ultrasonic Doppler signal and the speech signal, were used as the input and reference for training LSTM RNN. The performance of LSTM RNN and MLP was evaluated and compared by experiments using test data, and the RMSE (Root Mean Squared Error) was used as a measure. The RMSE of each experiment was 0.5810 and 0.7380, respectively. The difference was about 0.1570, so that it confirmed that the performance of the method using the LSTM RNN was better.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.11
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• pp.1973-1977
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• 2006

This paper reports the absolute position tracking algorithm of underwater vehicles such as ROV, AUV in global region by fusing sensor informations of IMU, DVL, USBL, DGPS etc. This algorithm is to be used in the position tracking of the 6,000m class deep-sea unmanned underwater vehicle, HEMIRE for scientific exploration.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.53-58
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• 2023

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

• Journal of ILASS-Korea
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• v.5 no.1
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• pp.30-40
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• 2000

The characteristics of liquefied butane spray are expected to be different from conventional diesel fuel spray, because a kind of flash boiling spray is expected when the back pressure is below the saturated vapor pressure of the butane(0.23MPa at 298K). The ambient pressure was held at a pressure above(0.37MPa) and below(0.15MPa) the fuel vapor pressure. The axial velocities, radial velocities, and size distributions in butane sprays were measured with PDPA(Phase Doppler Particle Analyzer) system. The PDPA measurement showed a smaller SMD at the 0.15MPa chamber pressure, compared to the 0.37MPa case. Log-hyperbolic density function for the droplets size distribution can be fitted to the experimental results of a liquefied butane spray.

• Journal of the Korean Institute of Navigation
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• v.23 no.2
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• pp.43-50
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• 1999

The paper deals with modem methods of measurement of ship's absolute speed and their realization: Doppler hydroacoustical logs and correlation hydroacoustical logs. Shortcomings of both log types are analyzed and ways of their improvement suggested. On the basis of the study the perspectives of hydroacoustical logs development are determined herein.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.110.2-110.2
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• 2012

We investigate a cool loop and a dark lane over a limb active region on 2007 March 14 by the Hinode/EUV Imaging Spectrometer (EIS). The cool loop is clearly seen in the EIS spectral lines formed at the transition region temperature (log T = 5.8). The dark lane is characterized by an elongated faint structure in coronal spectral lines (log T = 5.8 - 6.1) and rooted on a bright point. We examine their electron densities, Doppler velocities, and non-thermal velocities as a function of distance from the limb using the spectral lines formed at different temperatures (log T = 5.4 - 6.4). The electron densities of the cool loop and the dark lane are derived from the density sensitive line pairs of Mg VII, Fe XII, and Fe XIV spectra. Under the hydrostatic equilibrium and isothermal assumption, we determine their temperatures from the density scale height. Comparing the scale height temperatures to the peak formation temperatures of the spectral lines, we note that the scale height temperature of the cool loop is consistent with a peak formation temperature of the Mg VII (log T = 5.8) and the scale height temperature of the dark lane is close to a peak formation temperature of the Fe XII and Fe XIII (log T = 6.1 - 6.2). It is interesting to note that the structures of the cool loop and the dark lane are most visible in these temperature lines. While the non-thermal velocity in the cool loop slightly decreases (less than 7 km $s^{-1}$) along the loop, that in the dark lane sharply falls off with height. The variation of non-thermal velocity with height in the cool loop and the dark lane is contrast to that in off-limb polar coronal holes which are considered as source of the fast solar wind. Such a decrease in the non-thermal velocity may be explained by wave damping near the solar surface or turbulence due to magnetic reconnection near the bright point.