Pseudo Long Base Line (LBL) Hybrid Navigation Algorithm Based on Inertial Measurement Unit with Two Range Transducers

J. Ocean Eng. Technol. 2005;19(5):71-77.

LEE PAN-MOOK;JUN BONG-HUAN;HONG SEOK-WON;LIM YONG-KON;YANG SEUNG-IL;

Maritime and Ocean Engineering Research Institute (MOERI), KORDI;Maritime and Ocean Engineering Research Institute (MOERI), KORDI;Maritime and Ocean Engineering Research Institute (MOERI), KORDI;Maritime and Ocean Engineering Research Institute (MOERI), K

두 개의 초음파 거리계를 이용한 관성센서 기반의 의사 장기선 (Pseudo-LBL) 복합항법 알고리듬

이판묵;전봉환;홍석원;임용곤;양승일;

한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;

Keywords: Range Sonar, Inertial Measurement Unit, Pseudo Long Base Line, Underwater Navigation, Autonomous Underwater Vehicle (AUV)

핵심용어: 초음파 거리계, 관성계측센서, 의사 장기선, 수중항법, 자율무인잠수정

Abstract

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.