두개의 초음파 거리계와 관성센서를 융합한 의사 LBL 항법 시스템

Abstract

This paper presents an integrated underwater navigation system for unmanned underwater vehicles using additional range transducers, where two acoustic transponders are supposed to be installed at two reference station near sea bottom and one transducer is installed at the vehicles. The navigation system is based on strap-down inertial measurement unit assisted with the range information. This paper proposes a measurement model with two range measurement to improve the performance of an IMU-DVL navigation system for long-time operation of underwater vehicles. The extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f. nonlinear numerical model of an AUV in lawn-mowing survey mode at current flow, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system assisted by the additional range measurements.