Development and Performance Verification of Real-time Hybrid Navigation System for Autonomous Underwater Vehicles
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Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.
Abstract
Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.
참고문헌 (4)
- Lee, C. -M, "Underwater Navigation System Based on Inertial Sensor and Doppler Velocity Log Using Indirect Feedback Kalman Filter", International Journal of Offshore and Polar Engineering, 15, pp.88~95 (2005)
- Lee, P. -M, "Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements", Ocean Engineering, 34, pp.416~425 (2007)
- Titterton, D. H, "Strapdown Inertial Navigation Technology" (2004), AIAA
- Webster, S, "Preliminary deep water results in single-beacon oneway-travel-time acoustic navigation for underwater vehicles", Proc. Intl. Conf. Intell. Robots Systems (IROS) (2009)