초음파 거리측정을 이용한 정속 운항 자율무인잠수정 선단의 저가형 수중항법시스템 구현에 관한 연구

Abstract

This paper presents an underwater navigation system based on range measurements from a reference station fixed at surface or on sea floor. The navigation system is composed of heading sensor, depth sensor, and range measuring device excluding expensive inertial and velocity sensors. We formulate a state equation for multiple AUVs' navigation and derive a condition to keep observability of the navigation system. Autonomous underwater vehicles cruising with constant speed can estimate their trajectories with the range-based navigation algorithm. Simulation studies are performed to evaluate the underwater navigation of multiple AUVs with range measurements. Simulation results illustrate that the low-cost underwater navigation system provides convergence of the states estimates for multiple AUVs.