반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔시험

Abstract

This paper presents considerations on the results of rotating arm test which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. A navigational system model is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The extended Kalman filter was used to propagate the error covariance. The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.