자율무인잠수정 수중항법 보조를 위한 USBL의 비상관 측정 모델링에 관한 연구

Abstract

This paper presents a modeling method of uncorrelated measurement error of USBL for aiding navigation of underwater vehicles. Mahalanobis distance and principal component analysis are applied to decorrelate the errors of USBL measurements, which are correlated in x- and y-direction and vary according to relative direction and distance between a reference station and the underwater vehicles. Simulations of an integrated navigation system with the uncorrelated error model were performed to demonstrate the effectiveness of the proposed method. Through the simulations, it has been shown that the navigation system is more robust in rejecting outliers of USBL than conventional ones.