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

Abstract

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.

Keywords

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

Acknowledgement

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

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