Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Reduced Error Model for Integrated Navigation of Unmanned Autonomous Underwater Vehicle

무인자율수중운동체의 보정항법을 위한 축소된 오차 모델

  • Park, Yong-Gonjong (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University) ;
  • Kang, Chulwoo (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University) ;
  • Lee, Dal Ho (Department of Electronic Eng, Gachon University) ;
  • Park, Chan Gook (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University)
  • 박용곤 (서울대학교 기계항공공학부/자동화시스템연구소) ;
  • 강철우 (서울대학교 기계항공공학부/자동화시스템연구소) ;
  • 이달호 (가천대학교 전자공학과) ;
  • 박찬국 (서울대학교 기계항공공학부/자동화시스템연구소)
  • Received : 2013.10.17
  • Accepted : 2014.04.07
  • Published : 2014.05.01
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Abstract

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

Keywords

References

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