DocumentCode :
2781326
Title :
An integrated navigation system for autonomous underwater vehicles with two range sonars, inertial sensors and Doppler velocity log
Author :
Lee, P.M. ; Jeon, B.H. ; Kim, S.M. ; Choi, H.T. ; Lee, C.M. ; Aoki, T. ; Hyakudome, T.
Author_Institution :
Korea Res. Inst. of Ships & Ocean Eng., KORDI, Daejeon, South Korea
Volume :
3
fYear :
2004
fDate :
9-12 Nov. 2004
Firstpage :
1586
Abstract :
This work presents an integrated navigation system for autonomous underwater vehicles with inertial and acoustic sensors. The integrated navigation system is based on a strap-down inertial measurement unit (IMU), where auxiliary navigation sensors are two range sonars, a Doppler velocity log (DVL), a magnetic compass and a depth sensor. The main idea of the paper is to improve the performance of the IMU-DVL navigation system by introducing additional range information. The range sonars can measure the distance and the incident angle from a reference transponder on an underwater station. The range sonars are modeled to improve the navigation algorithm, which could provide valuable information for the IMU-DVL navigation to reduce estimation error, especially when the DVL cannot detect the bottom reflection. Simulation was conducted with the 6-d.o.f. nonlinear numerical model of an AUV in lawn-mowing survey mode at tidal flow, where the bottom reflected DVL information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system assisted by the additional range measurements.
Keywords :
Doppler radar; navigation; oceanographic equipment; remotely operated vehicles; sonar; underwater sound; underwater vehicles; Doppler velocity log; IMU-DVL navigation system; acoustic sensor; autonomous underwater vehicles; bottom reflection; depth sensor; estimation error; inertial sensor; integrated navigation system; magnetic compass; navigation algorithm; navigation sensors; range information; range sonar; strap-down inertial measurement unit; transponder; Acoustic sensors; Estimation error; Magnetic sensors; Measurement units; Sensor systems; Sonar detection; Sonar measurements; Sonar navigation; Transponders; Underwater vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04
Print_ISBN :
0-7803-8669-8
Type :
conf
DOI :
10.1109/OCEANS.2004.1406359
Filename :
1406359
Link To Document :
بازگشت