Implementation of Deep-sea UUV Precise Underwater Navigation based on Multiple Sensor Fusion

다중센서융합 기반의 심해무인잠수정 정밀수중항법 구현

  • 김기훈 (한국해양연구원 해양시스템연구부) ;
  • 최현택 (한국해양연구원 해양시스템연구부) ;
  • 이종무 (한국해양연구원 해양시스템연구부) ;
  • 김시문 (한국해양연구원 해양시스템연구부) ;
  • 이판묵 (한국해양연구원 해양시스템연구부) ;
  • 조성권 (한국해양연구원 남해연구소)
  • Received : 2010.09.28
  • Accepted : 2010.06.18
  • Published : 2010.06.30


This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.


Underwater navigation;DR(Dead reckoning);Sensor fusion;USBL(Ultra short base line);DVL(Doppler velocity log)


Grant : 해저지형 자율 맵핑 핵심기술 개발, 차세대 심해용 무인 잠수정 개발


  1. 김기훈, 이판묵, 전봉환, 이종무, 최현택, 이계홍, 류승철 (2007). “심해무인잠수정 해미래, 해누비의 실해역 성능시험 및 결과분석", 한국해양공학회춘계학술대회, pp 1191-1195.
  2. 김기훈, 이계홍, 이판묵 (2008). “심해무인잠수정 해미래의 센서 시스템 운용", 한국해양공학회 춘계학술대회, pp 2290-2294.
  3. 김덕진, 김기훈, 이판묵, 조성권, 박연식 (2008). “심해무인잠수정 해미래의 고도정보 추정을 위한 다중센서융합 알고리즘", 한국해양정보통신학회논문지, 제12권, 제7호, pp 1202-1208.
  4. Cleveland, W.S. (1979). “Robust Locally Weighted Regression and Smoothing Scatter Plots", Journal of the American Statistical Association, Vol 74, pp 829-836.
  5. Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons.
  6. Franken, D. and Hupper, A. (2005). “Improved Fast Covariance Intersection for Distributed Data Fusion“, Int. Conf. on Information Fusion, pp 154-160.
  7. Kinsey, J.C. and Whitcomb, L.L. (2007). “In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment", IEEE Journal of Oceanic Engineering, Vol 32, No 2, pp 286-299.
  8. Kim, K., Choi, H.T., Kim, S.M. and Lee, P.M. (2009). Implementation of Precise Underwater Navigation, UUST 09.
  9. Lee, P. et al. (2007). Sea Trials and Experimental Results of the Deep-sea Unmanned Underwater Vehicles, Hemire and Henuvy, UT07.
  10. Niehsen, W. (2002). "Information Fusion Based on Fast Covariance Intersection Filtering", In Proc. Int. Conf: Inf: Fusion (FUSION '02), pp 901-905.
  11. Whitcomb, L., Yoerger, D. and Singh, H. (1999). "Advances in Doppler-Based Navigation of Underwater Robotic Vehicles", Proc. of IEEE Int. Conf. on Robotics & Automation, pp 399-406.