초단기선 탑재 무인수상선의 협력 항법을 통한 무인잠수정의 위치인식 향상

Abstract

Accurate positioning is essential for unmanned underwater vehicle (UUV) operations, particularly for long-term survey missions. Toreduce the inherent positioning errors from the inertial navigation systems of UUVs, or dead reckoning, underwater terrain observationsfrom sonar sensors are typically exploited. Within the framework of pose-graph optimization, we can generate submaps of the seafloorand use them to add loop-closure constraints to the pose graph by determining the best match between the submaps. However, thisapproach results in error accumulation in long-term operations because the quality of local submaps depends on the dead reckoning. Hence, we can adopt external acoustic positioning systems, such as an ultrashort baseline (USBL), to add global constraints to the existing pose graph. We assume that the acoustic transponder is installed on a UUV and that the acoustic transceiver is equipped in anunmanned surface vehicle trailing the UUV to maintain an acoustic connection between the vehicles. We simulate the terrain and USBLmeasurements as well as evaluate the performance of the UUV’s pose estimation via online pose-graph optimization.