다중 무인 수상선의 협력항법 기반 위치추정 기술에 대한 기초 연구

Abstract

Autonomous surface vehicles (ASV) are widely used to perform various tasks in marine environments. Especially, multiple ASVs can cooperate to accomplish given tasks efficiently. This paper presents a method of cooperative positioning system for multiple ASVs. When an ASV is in trouble with GNSS based positioning system, another ASV with accurate position can be used as a landmark to localize the ASV. A localization method for each ASV is basically implemented by INS-GPS fusion. Furthermore, each ASV estimates absolute position of other ASV. From this concept of cooperative positioning system, the ASV which experiences unavailable case of GNSS data estimate its own location using relative geometric information to other ASV. The proposed method is implemented by Kalman filter based estimation and verified by simulation results.