고정기준점에 대한 거리측정 신호를 이용하는 자율무인잠수정의 수중항법

Abstract

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on sea bottom or floated at surface with a buoy, of which the system is extended to 3-dimensional coordinate. We formulate the state equation and constitute an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, ISiMI, cruising with constant speed can estimate its trajectory with range measurements and additional depth, heading and pitch sensors only. Simulation studies are performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. Simulation results illustrate that the extended navigation system provides convergence of the states estimates. The navigation system is conditionally stable when it has initial position errors.