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Preliminary study on the inertial-Doppler localization of a deep-sea launcher hanging on a cable

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dc.contributor.authorLee, P.-M.-
dc.contributor.authorLee, C.-M.-
dc.contributor.authorKim, S.-M.-
dc.contributor.authorJeon, B.-H.-
dc.contributor.authorHong, S.-W.-
dc.contributor.authorAoki, T.-
dc.date.accessioned2023-12-22T09:30:56Z-
dc.date.available2023-12-22T09:30:56Z-
dc.date.issued2003-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9136-
dc.description.abstractThis paper presents a localization method of a deep-sea launcher with a hybrid underwater navigation system. The under water navigation system mainly composed of an inertial measurement unit (IMU) and a Doppler velocity log (DVL). The implementation of DVL can improve the navigational performance of the IMU when an underwater vehicle works near sea bottom. A dynamic error model of a DVL-aided inertial navigation system is designed to implement an indirect feedback Kalman filter, and a measurement model is also designed. This paper demonstrates the enhanced performance of the DVL-aided hybrid navigation by conducting rotating arm test in ocean engineering basin at KRISO. The IMU and the DVL are embedded in a small fish attached at the rotating arm. Additional depth sensor and a magnetic compass are introduced in the measurement model. In addition, this paper also conducts a dead-reckoning navigation using the DVL and the magnetic compass. The dead-reckoning navigation system also shows better performance than the IMU-only navigation system. ? 2003 IEEE.-
dc.format.extent6-
dc.language영어-
dc.language.isoENG-
dc.publisherInstitute of Electrical and Electronics Engineers Inc.-
dc.titlePreliminary study on the inertial-Doppler localization of a deep-sea launcher hanging on a cable-
dc.typeArticle-
dc.identifier.doi10.1109/SSC.2003.1224128-
dc.identifier.scopusid2-s2.0-84944539025-
dc.identifier.bibliographicCitationSSC 2003 - 3rd International Workshop on Scientific Use of Submarine Cables and Related Technologies, pp 139 - 144-
dc.citation.titleSSC 2003 - 3rd International Workshop on Scientific Use of Submarine Cables and Related Technologies-
dc.citation.startPage139-
dc.citation.endPage144-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusAir navigation-
dc.subject.keywordPlusAutomotive engineering-
dc.subject.keywordPlusCables-
dc.subject.keywordPlusCompasses (magnetic)-
dc.subject.keywordPlusFeedback-
dc.subject.keywordPlusInertial navigation systems-
dc.subject.keywordPlusNavigation-
dc.subject.keywordPlusNavigation systems-
dc.subject.keywordPlusOcean engineering-
dc.subject.keywordPlusOcean structures-
dc.subject.keywordPlusSubmarine cables-
dc.subject.keywordPlusSubmarines-
dc.subject.keywordPlusTesting-
dc.subject.keywordPlusUnits of measurement-
dc.subject.keywordPlusVehicles-
dc.subject.keywordPlusInertial navigations-
dc.subject.keywordPlusOceans-
dc.subject.keywordPlusSea measurements-
dc.subject.keywordPlusUnderwater cables-
dc.subject.keywordPlusUnderwater vehicles-
dc.subject.keywordPlusVehicle dynamics-
dc.subject.keywordPlusMagnetic levitation vehicles-
dc.subject.keywordAuthorAutomotive engineering-
dc.subject.keywordAuthorFeedback-
dc.subject.keywordAuthorInertial navigation-
dc.subject.keywordAuthorMeasurement units-
dc.subject.keywordAuthorOceans-
dc.subject.keywordAuthorSea measurements-
dc.subject.keywordAuthorTesting-
dc.subject.keywordAuthorUnderwater cables-
dc.subject.keywordAuthorUnderwater vehicles-
dc.subject.keywordAuthorVehicle dynamics-
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