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J. Ocean Eng. Technol. 2010;24(3):46-51.    

Implementation of Deep-sea UUV Precise Underwater Navigation based on Multiple Sensor Fusion
Kim Ki-Hun,Choi Hyun-Taek,Kim Sea-Moon,Lee Pan-Mook,Lee Chong-Moo,Cho Seong-Kwon
Ocean Engineering Research Dept. KORDI,Ocean Engineering Research Dept. KORDI,Ocean Engineering Research Dept. KORDI,Ocean Engineering Research Dept. KORDI,Ocean Engineering Research Dept. KORDI,South Sea Research Institute KORDI
다중센서융합 기반의 심해무인잠수정 정밀수중항법 구현
김기훈,최현택,이종무,김시문,이판묵,조성권
한국해양연구원 해양시스템연구부,한국해양연구원 해양시스템연구부,한국해양연구원 해양시스템연구부,한국해양연구원 해양시스템연구부,한국해양연구원 해양시스템연구부,한국해양연구원 남해연구소
© 2010 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Underwater navigation, DR(Dead reckoning), Sensor fusion, USBL(Ultra short base line), DVL(Doppler velocity log)
핵심용어: 수중항법, 추측항법, 센서융합, 초단기선, 도플러 속도계
Abstract
This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.
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