Rotating Arm Test for Assessment of an Underwater Hybrid Navigation System for a Semi-Autonomous Underwater Vehicle

J. Ocean Eng. Technol. 2003;17(4):73-80.

반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험

이종무,이판묵,김시문,홍석원,서재원,성우제

한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,서울대학교 자동화시스템공동연구소,서울대학교 조선해양공학과

Keywords: Hybrid Navigation System, Semi-Autonomous Underwater Vehicle, Inertial Navigation, Doppler Velocity Log

핵심용어: 복합항법시스템, 반자율무인잠수정, 관성항법, 초음파 속도계

Abstract

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle