USBL 위치와 DVL 속도 측정을 융합한 심해 무인잠수정의 항법시스템

Abstract

This paper presents an integrated navigation system fusing ultra-short baseline (USBL) and Doppler velocity log (DVL) for a deep-sea remotely operated vehicle, Hemire. A navigation model has been introduced on the basis of kinematic relation of position and velocity, where the USBL position and the DVL velocities are obtained in global coordinate and body-fixed coordinate respectively. The system variables are predicted with the navigation model and corrected with the measurements using the extended Kalman filter. Performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanos. Based on the characteristics of the USBL and DVL measurements, the design process of the parameters of system modeling error covariance, measurement error covariance, and initial error covariance has been presented. Influence of outlier and blackout of the USBL measurements and blackout of the DVL measurements has been reviewed with re-navigation simulations by tuning the navigation parameters.