Convergence of Initial Estimation Error in a Hybrid Underwater Navigation System with a Range Sonar

J. Ocean Eng. Technol. 2005;19(6):78-85.

LEE PAN MOOK;JUN BONG HUAN;KIM SEA MOON;CHOI HYUN TAEK;LEE CHONG MOO;KIM KI HUN;

Ocean Exploration System Research Division, MOERI-KORDI;Ocean Exploration System Research Division, MOERI-KORDI;Ocean Exploration System Research Division, MOERI-KORDI;Ocean Exploration System Research Division, MOERI-KORDI;Ocean Exploration System Resear

초음파 거리계를 갖는 수중복합항법시스템의 초기오차 수렴 특성

이판묵;전봉환;김시문;최현택;이종무;김기훈;

한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단;

Keywords: Range Sonar, Inertial Measurement Unit, Doppler Velocity Log, Underwater Navigation, Initial Estimation Error

핵심용어: 초음파 거리계, 관성계측센서, 도플러 속도계, 수중항법, 초기추정오차

Abstract

Initial alignment and localization are important topics in inertial navigation systems, since misalignment and initial position error wholly propagate into the navigation systems and deteriorate the performance of the systems. This paper presents the error convergence characteristics of the hybrid navigation system for underwater vehicles initial position, which is based on an inertial measurement unit (IMU) accompanying a range sensor. This paper demonstrates the improvement on the navigational performance oj the hybrid system with the range information, especially focused on the convergence of the estimation of underwater vehicles initial position error. Simulations are performed with experimental data obtained from a rotating ann test with a fish model. The convergence speed and condition of the initial error removal for random initial position errors are examined with Monte Carlo simulation. In addition, numerical simulation is conducted with an AUV model in lawn-mowing survey mode to illustrate the error convergence of the hybrid navigation System for initial position error.