UUV의 DVL 항법을 위한 자세 추정 방법 비교
Comparison of Attitude Estimation Methods for DVL Navigation of a UUV
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초록
This paper compares methods for attitude estimation of a UUV(Unmanned UnderwaterVehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler VelocityLog). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter),UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using themeasurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading ReferenceSystem) and DVL. The methods are used for navigation in a test pool and their navigation performanceis compared. The results suggest that even if there is no measurement relative to some absolutelandmarks, DVL-only navigation can be useful for navigation in a limited time and range.
Abstract
This paper compares methods for attitude estimation of a UUV(Unmanned UnderwaterVehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler VelocityLog). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter),UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using themeasurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading ReferenceSystem) and DVL. The methods are used for navigation in a test pool and their navigation performanceis compared. The results suggest that even if there is no measurement relative to some absolutelandmarks, DVL-only navigation can be useful for navigation in a limited time and range.
참고문헌 (21)
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