Underwater navigation based on the multiple sensor fusion for the deep-sea UUV system, HEMIRE and HENUVY

Author

Kim, Kihun ; Lee, Pan-Mook ; Lee, Chong-Moo ; Jun, Bong-Huan ; Choi, Hyun-Taek ; Lee, Ji-Hong ; Ryu, Seong-Chul

Author_Institution

Korea Ocean R&D Inst., Seoul

fYear

2007

fDate

18-21 June 2007

Firstpage

1

Lastpage

6

Abstract

This paper presents the underwater navigation algorithm based on a multiple sensor fusion for the deep-sea unmanned underwater vehicles (UUVs), composed of two vehicles, a remotely operated vehicle (ROV) ´Hemire´ and a depressor ´Henuvy´. The performance of underwater positioning system usually highly depend on that of acoustic sensors such as ultra short base line (USBL), long base line(LBL) and altimeter. A sensor fusion based outlier rejection algorithm is suggested to reject the spurious acoustic position measurement. The benefits of the algorithm are illustrated using the sea trial data which were conducted in the East Sea.

Keywords

acoustic transducers; navigation; oceanographic equipment; position control; remotely operated vehicles; sensor fusion; sonar signal processing; underwater sound; underwater vehicles; East sea; Hemire; Henuvy; LBL acoustic sensors; ROV; USBL acoustic sensors; altimeter; deep sea UUV system; depressor; long base line acoustic sensors; multiple sensor fusion; outlier rejection algorithm; remotely operated vehicle; ultrashort base line acoustic sensors; underwater navigation algorithm; underwater positioning system; unmanned underwater vehicles; Acoustic sensors; Marine vehicles; Oceans; Remotely operated vehicles; Research and development; Sea surface; Sensor fusion; Sonar equipment; Sonar navigation; Underwater vehicles; Deep-sea ROV; Multiple sensor fusion; Underwater navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2007 - Europe

Conference_Location

Aberdeen

Print_ISBN

978-1-4244-0635-7

Electronic_ISBN

978-1-4244-0635-7

Type

conf

DOI

10.1109/OCEANSE.2007.4302230

Filename

4302230