시간지연 USBL 위치신호를 이용한 항법시스템의 위치보정에 관한 연구

Abstract

This paper presents a method to correct position error of USBL measurements, which is induced by the propagation delay of acoustic signal. We proposes two methods for responder mode and transponder mode of USBL implementation on ROVs operated at deep-sea. When we implement an integrated navigation system combined with USBL acoustic positioning and inertial navigation systems, we can get more precise position by compensating the USBL measurements. We can reject outlier signals of the USBL with the corrected position error, by eliminating vehicle movement during acoustic propagation time of USBL pulses. On the other hand, position data from commercial USBLs usually give truncated values which are deterministic ones. This paper suggests a method to make it normal distributed data by adding random noises to the USBL measurements. Based on the proposed method, extended Kalman filters are implementable for an integrated navigation system with USBL andinertial sensors.