천해 운용 AUV의 USBL-보조 관성항법에 관한 실험적 연구

Abstract

This paper is about error correction of position estimated from the USBL-aided inertial navigation system of an AUV operated in shallow water. The experiment was conducted with a commercial AUV Sparus-II from September 12 to 14, 2023 at Jangmok Bay, Geoje Island, where water depth is about 10m. Inertia, velocity and position data were measured with the IMU, DVL and USBL transponder mounted on the AUV. The measured USBL trajectories were contaminated by outliers and blackouts in some cases. We will examine robustness against USBL outliers by implementing the USBL-aided inertial navigation system of an AUV based on the uncorrelated covariance error model.