• The Journal of Korea Robotics Society
• /
• v.12 no.2
• /
• pp.173-183
• /
• 2017

This paper proposes an integrated positioning system to localize a moving object in the shadow-area that exists in the water tank. The new water tank for underwater robots is constructed to evaluate the navigation performance of underwater vehicles. Several sensors are integrated in the water tank to provide the position information of the underwater vehicles. However there are some areas where the vehicle localization becomes very poor since the very limited sensors such as sonar and depth sensors are effective in underwater environment. Also there are many disturbances at sonar data. To reduce these disturbances, an extended Kalman filter has been adopted in this research. To localize the underwater vehicles under the hostile situations, a SVR (Support Vector Regression) has been systematically applied for estimating the position stochastically. To demonstrate the performance of the proposed algorithm (an extended Kalman filter + SVR analysis), a new UI (User Interface) has been developed.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.18 no.10
• /
• pp.2586-2592
• /
• 2014

Lost fishing gears become a major cause of marine pollution, and many policy and technical efforts have been conducted for that. For efficient retrieving lost fishing gears in underwater, It is important to know the current position. Using GPS in the sub-sea environment is impossible and localization requires the use of special systems, and mobility due to water currents for underwater localization also has to be considered. In this paper, described with respect to the system for a self-generated location informations without using an external signal, such as a GPS and Sonar and storing them. Using the characteristics of the geomagnetic and INS principle, proposed informations and a way for estimating self position during movement. Embedded based system suggested and implemented in this study is tested for validating it's functionality.

• The Journal of Korea Robotics Society
• /
• v.13 no.2
• /
• pp.79-85
• /
• 2018

This study focuses on autonomous exploration based on map expansion for an underwater robot equipped with acoustic sonars. Map expansion is applicable to large-area mapping, but it may affect localization accuracy. Thus, as the key contribution of this paper, we propose a method for underwater autonomous exploration wherein the robot determines the trade-off between map expansion ratio and position accuracy, selects which of the two has higher priority, and then moves to a mission step. An occupancy grid map is synthesized by utilizing the measurements of an acoustic range sonar that determines the probability of occupancy. This information is then used to determine a path to the frontier, which becomes the new search point. During area searching and map building, the robot revisits artificial landmarks to improve its position accuracy as based on imaging sonar-based recognition and EKF-SLAM if the position accuracy is above the predetermined threshold. Additionally, real-time experiments were conducted by using an underwater robot, yShark, to validate the proposed method, and the analysis of the results is discussed herein.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.54 no.3
• /
• pp.108-118
• /
• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.5
• /
• pp.929-935
• /
• 2017

All sensor nodes generally determine their positions using anchor nodes that are located in underwater sensor networks. This paper proposes a Tabu search algorithm to determine the minimum number of anchor nodes for the location of all sensor nodes in underwater sensor networks. As the number of the sensor nodes increases in the network, the amount of calculation that determines the number of anchor nodes would be too much increased. In this paper, we propose a Tabu search algorithm that determines the minimum number of anchor nodes within a reasonable computation time in a high dense network, and propose an efficient neighborhood generating operation of the Tabu search algorithm for efficient search. The proposed algorithm evaluates those performances through some experiments in terms of the minimum number of anchor nodes and execution time. The proposed algorithm shows 5-10% better performance than the conventional algorithm.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.25 no.3
• /
• pp.231-238
• /
• 2022

Mine detection has been mainly studied with images of the forward-looking sonar. Forward-looking sonar assumes the propagation path of the sound wave as a straight path, creating the surrounding images. This might lead to errors in the detection by ignoring the refraction of the sound wave. In this study, we propose a mine localization method that can robustly identify the location of mines in an underwater environment by considering the refraction of sound waves. We propose a method of estimating the elevation angle of arrival of the target echo signal in a single receiver, and estimate the mine location by applying the estimated elevation angle of arrival to ray tracing. As a result of simulation, the method proposed in this paper was more effective in estimating the mine localization than the existing method that assumed the propagation path as a straight line.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.4
• /
• pp.341-348
• /
• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• The Journal of Korea Robotics Society
• /
• v.9 no.4
• /
• pp.216-224
• /
• 2014

This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2010.10a
• /
• pp.592-593
• /
• 2010

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2010.05a
• /
• pp.156-157
• /
• 2010