Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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3-D Localization of an Autonomous Underwater Vehicle Using Extended Kalman Filter

확장칼만필터를 이용한 무인잠수정의 3차원 위치평가

  • Published : 2004.07.01
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Abstract

This paper presents a 3-D localization of an autonomous underwater vehicle(AUV). Conventional methods of localization, such as LBL or SBL, require additional beacon systems, which reduces the flexibility and availability of the AUV We use a digital compass, a pressure sensor, a clinometer and ultrasonic sensors for localization. From the orientation and velocity information, a priori position of the AUV is estimated based on the dead reckoning. With the aid of extended Kalman filter algorithm, a posteriori position of the AUV is estimated by using the distance between the AUV and a mother ship on the surface of the water together with the water depth information from the pressure sensor. Simulation results show the possibility of practical application of the method to autonomous navigation of the AUV.

Keywords

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