J. Ocean Eng. Technol. Search

CLOSE


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

Convergence of Initial Estimation Error in a Hybrid Underwater Navigation System with a Range Sonar
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;
© 2005 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
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.
TOOLS
Share :
Facebook Twitter Linked In Google+ Line it
METRICS Graph View
  • 742 View
  • 2 Download


ABOUT
BROWSE ARTICLES
ARTICLE CATEGORY

Browse all articles >

PUBLICATION ETHICS
FOR CONTRIBUTORS
Editorial Office
President Office BD Rm. 1302, 13 Jungang-daero 180beon-gil, Dong-gu, Busan 48821, Republic of Korea
Tel: +82-51-759-0656    Fax: +82-51-759-0656    E-mail: ksoehj@ksoe.or.kr                

Copyright © 2024 by The Korean Society of Ocean Engineers.

Developed in M2PI

Close layer
prev next