센서상태변환을 고려한 자율무인기뢰처리기의 다중센서융합 기반 수중유도항법시스템 설계

Abstract

This paper propose a practical guidance and navigation system considering ocean currents in real sea operation. Optimality is not an issue in this paper. Way-points from start point to possible goal point are selected by experienced human supervisors considering major ocean current axis. This paper also describes the implementation of a precise underwater navigation solution using multi-sensor fusion technique based on USBL, GPS, DVL and AHRS measurements. To implement the precise, accurate and frequent underwater navigation solution, three strategies are chosen. The first one is the heading alignment angle identification to enhance the performance of standalone dead-reckoning algorithm. The second one is that absolute position is fused timely to prevent accumulation of integration error, where the absolute position can be selected between USBL and GPS cosidering sensor status. The third one is introduction of effective outlier rejection algorithm. The performance of the developed algorithm is verified with experimental data to estimate horizontal tethered UUV positions.