GPS 사용 제한 조건에서 무인선의 레이다를 활용한 동시적 위치추정 및 지도작성

Abstract

For safe operation of unmanned surface vehicles (USVs), reliable and robust navigation is crucial capability. The integrated navigation system between global positioning system (GPS) and inertial navigation system (INS) has been commonly used. However, the performance of the integrated system degrades when a GPS receiver could not get GPS signals well. For example, the usage of GPS is restricted by natural interference or intentional jamming attacks. Therefore, an alternative navigation method is needed for autonomous navigation of a USV in GPS-restricted situations. In this study, relative navigation method is performed by employing coastline features in the framework of simultaneous localization and mapping (SLAM). In particular, B-splines are employed to parameterize coastline features for memory-efficient map representation. To demonstrate the feasibility of the proposed algorithm, a real-sea field experiment was conducted and the results are presented in this paper.