무인잠수정의 USBL 위치측정 및 관성시스템 신호융합을 위한 비선형 필터링

Abstract

This paper presents an underwater navigation system integrated with inertial measurement unit, Doppler velocity log and ultra short base line. The navigation system implemented a multi-rate sampling technique for the asynchronous different data rate of velocity and position sensors. Two independent processes are consisted of the measurement update in the extended Kalman filter. By using the deep-sea ROV, Hemire, experiments were conducted to demonstrate the performance of the navigation system at the Jang-Mok Bay and at the deep-sea floor in the East Sea. The bay experiment was performed with GPS to generate an analogous USBL measurement in the shallow water. Effectiveness of the navigation system was confirmed through the experiment. This paper also reviewed the characteristics of the USBL signals measured at the East Sea, and discussed the limitation implementing the extended Kalman filter, in terms of the truncation error and statistical features of the USBL measurements. We are under tuning the parameters of the navigation system with the deep-sea experiment data.data rate of velocity and position sensors. Two independent processes are consisted of the measurement update in the extended Kalman filter. By using the deep-sea ROV, Hemire, experiments were conducted to demonstrate the performance of the navigation system at the Jang-Mok Bay and at the deep-sea floor in the East Sea. The bay experiment was performed with GPS to generate an analogous USBL measurement in the shallow water. Effectiveness of the navigation system was confirmed through the experiment. This paper also reviewed the characteristics of the USBL signals measured at the East Sea, and discussed the limitation implementing the extended Kalman filter, in terms of the truncation error and statistical features of the USBL measurements. We are under tuning the parameters of the navigation system with the deep-sea experiment data.