A Study on a 3-D Localization of a AUV Based on a Mother Ship

J. Ocean Eng. Technol. 2005;19(2):74-81.

LIM JONG-HWAN;KANG CHUL-UNC;KIM SUNG-KYUN;

Dept of Mechatronics, Cheju National University;Dept of Mechatronics, Cheju National University;Ieodo-Tech.;

무인모선기반 무인잠수정의 3차원 위치계측 기법에 관한 연구

임종환;강철웅;김성근;

제주대학교 메카트로닉스공학과;제주대학교 메카트로닉스공학과;(주)이어도텍;

Keywords: AUV, 3-D Localization, Unmanned Marine Prober, Extended Kalman Filter

핵심용어: 자율무인잠수정, 3차원 위치평가, 무인탐사선, 확장 칼만필터

Abstract

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.