관성 센서와 의사 LBL 수중음향 트랜스튜서를 이용한 수중 통합항법시스템

Abstract

This paper presents an integrated underwater navigation system for unmanned underwater vehicles using additional range sonar, where two acoustic transponders are supposed to be installed at two reference station near sea bottom. The navigation system is based on strap-down inertial measurement unit assisted with velocity information. This paper proposes a measurement model with two range measurement to improve the performance of an IMU-DVL navigation system for long-time operation of underwater vehicles. The 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 tidal flow, where the bottom reflected DVL information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system assisted by the additional range measurements.