Advanced SearchSearch Tips
An In-situ Correction Method of Position Error for an Autonomous Underwater Vehicle Surveying the Sea Floor
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
An In-situ Correction Method of Position Error for an Autonomous Underwater Vehicle Surveying the Sea Floor
Lee, Pan-Mook; Jun, Bong-Huan; Park, Jin-Yeong; Shim, Hyung-Won; Kim, Jae-Soo; Jung, Hun-Sang; Yoon, Ji-Young;
  PDF(new window)
This paper presents an in-situ correction method to compensate for the position error of an autonomous underwater vehicle (AUV) near the sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors. Since the inertial navigation system shows drift in position without the bottom reflection of a Doppler velocity log, external acoustic positioning systems, such as an ultra short baseline (USBL), are needed to set the position without surfacing the AUV. The main concept of the correction method is as follows: when the AUV arrives near the sea floor, the vehicle moves around horizontally in a circular mode, while the USBL transceiver installed on a surface vessel measures the AUV's position. After acquiring one data set, a least-square curve fitting method is adopted to find the center of the AUV's circular motion, which is transferred to the AUV via an acoustic telemetry modem (ATM). The proposed method is robust for the outlier of USBL, and it is independent of the time delay for the data transfer of the USBL position with the ATM. The proposed method also reduces the intrinsic position error of the USBL, and is applicable to the in-situ calibration as well as the initialization of the AUVs' position. Monte Carlo simulation was conducted to verify the effectiveness of the method.
Autonomous underwater vehicle (AUV);Position error;In-situ correction;Least square method;Monte Carlo simulation;
 Cited by
다관절 복합이동 해저로봇을 위한 탄소섬유 복합소재 프레임의 구조 해석,유승열;전봉환;심형원;이판묵;

한국해양공학회지, 2013. vol.27. 6, pp.65-72 crossref(new window)
다관절 복합이동 해저로봇에 적용된 탄소섬유 복합소재 프레임에 대한 진수 및 인양 조건에서의 구조해석,유승열;전봉환;심형원;이판묵;

대한기계학회논문집A, 2014. vol.38. 4, pp.419-425 crossref(new window)
6 족 해저보행로봇을 위한 정적 보행 알고리즘 설계,유승열;전봉환;심형원;

대한기계학회논문집A, 2014. vol.38. 9, pp.989-997 crossref(new window)
Design and analysis of carbon fiber reinforced plastic body frame for multi-legged subsea walking robot, Crabster, Ocean Engineering, 2015, 102, 78  crossref(new windwow)
Design of Static Gait Algorithm for Hexapod Subsea Walking Robot: Crabster, Transactions of the Korean Society of Mechanical Engineers A, 2014, 38, 9, 989  crossref(new windwow)
Finite Element Analysis of CFRP Frame under Launch and Recovery Conditions for Subsea Walking Robot, Crabster, Transactions of the Korean Society of Mechanical Engineers A, 2014, 38, 4, 419  crossref(new windwow)
Finite Element Analysis of Carbon Fiber Reinforced Plastic Frame for Multi-legged Subsea Robot, Journal of Ocean Engineering and Technology, 2013, 27, 6, 65  crossref(new windwow)
P. M. Lee, B. H. Jun, K. Kim, C. M.. Lee, T. Aoki, and T. Hyakudome, Simulation of an inertial acoustic navigation system with range aiding for an autonomous underwater vehicle, IEEE J. of Oceanic Engineering, 32(2) (2007) 392-345. crossref(new window)

P. M. Lee and B. H. Jun, Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements, Ocean Engineering, 34(3-4) (2007), 416-425. crossref(new window)

O. Hegrenæs, K. Gade, O. K. Hagen, and P. E. Hagen, Underwater Transponder Positioning and Navigation of Autonomous Underwater Vehicles, Proc. of IEEE/MTS Oceans Conference, Biloxi, Oct. (2009).

G. Rui and M. Chitre, Cooperative Positioning Using Range-Only Measurement between Two AUVs, Proc. of IEEE Oceans, Sydney, May (2010). crossref(new window)

S. E. Webster, L. L. Whitcomb, and R. M. Eustice, Advances in Decentralized Single-Beacon Acoustic Navigation for Underwater Vehicles - Theory and Simulation, Proc. IEEE/OES AUV 2010 Conf., Monterey, CA, Aug. (2010). crossref(new window)

P. Milne, Underwater acoustic positioning systems. Gulf Publishing Co., Huston, (1983).

B. H. Jun, J. Y. Park, P. M. Lee, F. Y. Lee, and J. H. Oh, Development and tank test of an autonomous underwater vehicle ISIMI, J. of Ocean Engineering, 21(2), (2007), 67-74 (Korean).

P. M. Lee, et al., Development of an advanced deep-sea unmanned underwater vehicle (II-3), Technical Report of KORDI, UCPM S184A- 2197-2, April (2010) (Korean).

P. M. Lee, B. H. Jun, J. Y. Park, J. S. Kim, H. S. Jung, and Y. Y. Yoon, A Study on the calibration of initial position of an autonomous underwater vehicle at sea floor, Proceedings of 2010 Conference of the Korea Society of Ocean Engineering, Nov. (2010), 94-98; Journal of Ships and Ocean Engineering, KORDIMOERI, June (2011), (To-be published) (Korean).

P. M. Lee, B. H. Jun, J. Y. Park, H. Shim, J. S. Kim, H. S. Jung, and Y. Y. Yoon, An in-situ correction method of initial position error for an autonomous underwater vehicle near sea floor, Proceedings of the International Symposium on Underwater Technology 2011, April 5-8, (2011) [The symposium was cancelled due to the earthquake disaster, but proceedings has been published].

IXSEA, USBL Posidonia 6000 Positioning System, User's Manual, (2004).

Applied Acoustics Engineering Ltd., Easytrak USBL,(2010);