Advanced SearchSearch Tips
Simulation of Sensor Measurements for Location Estimation of an Underwater Vehicle
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Simulation of Sensor Measurements for Location Estimation of an Underwater Vehicle
Han, Jun Hee; Ko, Nak Yong; Choi, Hyun Taek; Lee, Chong Moo;
  PDF(new window)
This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.
Simulation;Sensor Measurement;Measurement Uncertainty;Underwater Robot;Gaussian Noise;Outlier;Correlation;Sampling Time Uncertainty;
 Cited by
W. S. Eom, Y. K. Kim, J. H. Lee, G. H. Choi and E. S. Sim, “Development Trend of Intelligent Robots,” Current Industrual and Technological Trends in Aerospace, Vol. 11, No. 1, pp. 150-160, 2013.

Y. J. Heo, G. H. Lee and J. H. Kim, “Extended Kalman Filterbased Localization with Kinematic Relationship of Underwater Structure Inspection Robots,” Journal of Institute of Control, Robotics and Systems, Vol. 19, No. 4, pp. 372-378, 2013. crossref(new window)

G. Y. Lee, S. B. Kim and C. H. Song, “Global Path Planning for Autonomous Underwater Vehicles in Current Field with Obstacles,” The Korean Society of Ocean Engineers, Vol. 26, No. 4, pp. 1-7, 2012.

S. B. Williams, P. Newman, G. Dissanayake and H. D. Whyte, "Autonomous Underwater Simultaneous Localisation and Map Building," Proceedings of the 2000 IEEE International Conference on Robotics and Automation San Francisco, vol.2 pp. 1793-1798, 2000.

S. Hong, J. S. Choi, H. W. Kim, M. C. Won, S. C. Shin, J. S. Rhee and H. U. Park, "A path tracking control algorithm for underwater mining vehicles," Journal of Mechanical Science and Technology, Vol. 23, No. 8, 2009.

A. Budiyonom, “Advances in unmanned underwater vehicles technologies:Modeling, control and guidance perspectives,” Indian Journal of Marine Sciences, Vol. 38, No. 3, pp. 282-295, 2009.

M. B. Larsen, "Synthetic Long Baseline Navigation of Underwater Vehicles," OCEANS 2000 MTS/IEEE Conference and Exhibition, Vol. 3, pp. 2043-2050, 2000.

S. Majumder, S. Scheding and H. F. D. Whyte, “Multisensor data fusion for underwater navigation,” Robotics and Autonomous Systems, Vol. 35, No. 2, pp. 97-108, 2001. crossref(new window)

J. H. Han and N. Y. Ko, “UKF Localization of a Mobile Robot in an Indoor Environment and Performance Evaluation,” Journal of Korean Institute of Intelligent Systems, Vol. 25, No. 4, pp. 361-368, 2015. crossref(new window)

E. Wolbrecht, B. Gill, R. Borth, J. Canning, M. Anderson and D. Edwards, “Hybrid Baseline Localization for Autonomous Underwater Vehicles,” Journal of Intelligent and Robotic Systems, Vol. 78, No. 3, pp. 593-611, 2015. crossref(new window)

Nak Yong Ko, Tae Gyun Kim, and Hyun Taek Choi, "Synchronous and Asynchronous Application of a Filtering Method for Underwater Robot Localization," International Journal of Humanoid Robotics, September, 2015.

S. W. Noh, N. Y. Ko and T. G. Kim, “Implementation of Bayesian Filter Method and Range Measurement Analysis for Underwater Robot Localization,” The Journal of Korea Robotics Society, Vol. 9, No. 1, pp. 28-38, 2014. crossref(new window)

G. Troni and L. L. Whitcomb., "Adaptive estimation of measurement bias in three-dimensional field sensors with angular rate sensors: Theory and comparative experimental evaluation," In Proc. Robot.: Sci. & Syst. Conf,. 2013.

M. D. Hua, K. Rudin, G. Ducard, T. Hamel and R. Mahony, "Nonlinear attitude estimation with measurement decoupling and anti-windup gyrobias compensation," in Proc. IFAC World Congr., pp. 2972-2978, 2011.

G. Troni and L. L. Whitcomb, "Preliminary Experimental Evaluation of a Doppler-aided Attitude Estimator for Improved Doppler Navigation of Underwater Vehicles," Robotics and Automation(ICRA), 2013 IEEE International Conference on, pp. 4134-4140, 2013.

N. Y. Ko, T. G. Kim, “Filtering Method for Location Estimation of an Underwater Robot,” International Journal of Robotics and Automation(IJRA), Vol. 3, No. 3, pp. 168-183, 2014.