정밀 수중항법의 구현

Abstract

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique for the purpose of sea-floor mapping with ROV or AUV. The estimation of accurate positions and attitudes is the key issue to achieve qualified mapping results by using side scan sonar, sub-bottom profiler and underwater camera on the underwater vehicles. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, calibration is conducted to enhance a standalone dead-reckoning algorithm. Secondly, absolute positioning data is fused to prevent cumulative integration error. Least square technique is used to identify the alignment angle error of a Doppler velocity log to the vehicle body coordinate. The alignment matrix is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approaches is evaluated with the experimental data acquired by the deep-sea ROV, Hemire, in the East-sea for the survey of a gas seeping area at 2,000m depth.