• Title/Summary/Keyword: Doppler velocity log (DVL)

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

  • 이종무;이판묵;성우제
    • Journal of Ocean Engineering and Technology
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    • v.17 no.6
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    • pp.83-90
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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), and a Doppler velocity log (DVL), accompanied by 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 scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. 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, using 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 sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

Broad-Band Underwater Acoustic Transducer for Doppler Velocity Log (도플러 속도계(DVL)를 위한 광대역 수중 음향 트랜스듀서)

  • Yun, Cheol-Ho;Lee, Yeoung-Pil;Ko, Nak Yong;Moon, Yong-Seon
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.9
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    • pp.755-759
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    • 2013
  • A broad-band underwater acoustic transducer that uses thickness vibration mode, derived from a disk type piezoelectric ceramic, has been proposed and designed for DVL (Doppler Velocity Log). Three different types of acoustic transducer were evaluated with respect to the transmitting voltage response, receiving voltage sensitivity and bandwidth of the transducer. The effect of the acoustic impedance matching layer and backing layer is discussed. The results demonstrated that three matching layer with lossy backing layer is the best configuration for underwater transducer. The trial underwater acoustic transducer with three matching layer has a frequency bandwidth of 55%, maximum transmitting voltage response of 200 dB and a maximum receiving voltage sensitivity of -187.3 dB.

DVL-RPM based Velocity Filter Design for a Performance Improvement Underwater Integrated Navigation System (수중운동체 복합항법 성능 향상을 위한 DVL/RPM 기반의 속도 필터 설계)

  • Yoo, Tae Suk;Yoon, Seon Il
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.9
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    • pp.774-781
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    • 2013
  • The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

Navigation System of UUV Using Multi-Sensor Fusion-Based EKF (융합된 다중 센서와 EKF 기반의 무인잠수정의 항법시스템 설계)

  • Park, Young-Sik;Choi, Won-Seok;Han, Seong-Ik;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.7
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    • pp.562-569
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    • 2016
  • This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements (USBL, DVL과 선수각 측정신호를 융합한 심해 무인잠수정의 항법시스템)

  • Lee, Pan-Mook;Shim, Hyungwon;Baek, Hyuk;Kim, Banghyun;Park, Jin-Yeong;Jun, Bong-Huan;Yoo, Seong-Yeol
    • Journal of Ocean Engineering and Technology
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    • v.31 no.4
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    • pp.315-323
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    • 2017
  • This paper presents an integrated navigation system that combines ultra-short baseline (USBL), Doppler velocity log (DVL), and heading measurements for a deep-sea remotely operated vehicle, Hemire. A navigation model is introduced based on the kinematic relation of the position and velocity. The system states are predicted using the navigation model and corrected with the USBL, DVL, and heading measurements using the Kalman filter. The performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanoes. Based on the characteristics of the measurements, the design process for the parameters of the system modeling error covariance, measurement error covariance, and initial error covariance are presented. This paper reviews the influence of the outliers and blackout of the USBL and DVL measurements, and proposes an outlier rejection algorithm that is robust to USBL blackout. The effectiveness of the method is demonstrated with re-navigation for the data that includes USBL blackouts.

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

  • Lee, Chong-Moo;Lee, Pan-Mook;Seong, Woo-Jae
    • Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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    • 2003.05a
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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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Rotating Arm Test for Assessment of an Underwater Hybrid Navigation System for a Semi-Autonomous Underwater Vehicle (반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험)

  • 이종무;이판묵;김시문;홍석원;서재원;성우제
    • 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.

Effectiveness Analysis for the Precision Guided and Controled Underwater Vehicle system with Integrated Navigation System (복합항법센서를 갖는 수중운동체의 정밀 유도제어 정확도 분석)

  • Han, Yongsu;Hyun, Chul;Jeong, Dongmin
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.19 no.11
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    • pp.2751-2757
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    • 2015
  • To obtain the system requirement specification in the beginning of the precision guidance and control system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification by carrying out the effectiveness analysis using the modeling and simulation(M&S) scheme. M&S model is constructed using 6-DOF dynamic model, environment model, guidanc -navigation & control model. Assume that the navigation sensor is consist of inertial navigation sensor(INS) and doppler velocity log(DVL), and the speed and direction of current is environment parameter. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Also, the effectiveness analysis is utilized for cost-performance analysis considering the cost of commercial INS and DVL sensor. This paper shows the high-level INS and the low-level DVL configure a high price-performance integrated navigation system.

Development of Underwater Vehicle Position Tracking Algorithm by using a Gyro-Doppler Sensor and Ultra Short Base Line (자이로 도플러 센서와 USBL을 통한 수중체 위치추적 알고리즘개발)

  • Kim, Deok-Jin;Park, Dong-Won;Park, Yeon-Sic
    • 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.

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

  • LEE PAN-MOOK;JEON BONG-HWAN;KIM SEA-MOON;LEE CHONG-MOO;LIM YONG-KON;YANG SEUNG-IL
    • 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.