다중센서융합 기반의 심해무인잠수정 정밀수중항법 구현

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 24; no. 3; pp. 46 - 51
• Main Authors: 김기훈(Kihun Kim), 최현택(Hyun-Taek Choi), 이종무(Chong-Moo Lee), 김시문(Sea-Moon Kim), 이판묵(Pan-Mock Lee), 조성권(Seong-Kwon Cho)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2010
• Subjects: 해양공학; Sensor fusion 센서융함; USBL(Ultra short base line) 초단기선; DVL(Doppler velocity log) 도플러 속도계; Underwater navigation 수중항범; DR(Dead reckoning) 추측항범
• ISSN: 1225-0767; 2287-6715

This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.