GPS 보조 추측항법을 이용한 이심이100 AUV의 실해역 위치추정

Abstract

This paper presents a position estimation results of the autonomous underwater vehicle 'ISiMI100' using the GPS aided dead reckoning. It is one of the important thing that the UUVs(Unmanned Underwater Vehicles) are aware of their position during their underwater mission. Dead reckoning estimates the position of the UUV from the an initial point by measuring linear and angular velocities. This method offers a practical and inexpensive navigation. However, it tend to drift over time according to performance of sensors and initial position error. To solve this problem, one can compensate position data using acoustic positioning solutions such as such as GPS, LBL(long baseline), or USBL(ultra short baseline) to provide an absolute position reference. This paper presents the position estimation results of the AUV 'ISiMI100' by GPS. We implemented dead reckoning to estimate the AUV's position, by adaptive. Kalman filter was adapted to update the measurement errors, and to correct position estimation error when the external measurements are available. Finally, experimental results were compared with simulation results.