로봇학회논문지 제15권 제1호(통권 제55호) (p.16-23)

실해역 환경에서 무인 잠수정의 초기 상태 정렬을 위한 GPS와 관성 항법 센서 기반 항법 정렬 알고리즘

GPS and Inertial Sensor-based Navigation Alignment Algorithm for Initial State Alignment of AUV in Real Sea
키워드 :
AUV,Initial State Alignment,Navigation Algorithm,Inertial Navigation Sensor,GPS

목차

Abstract
1. 서 론
2. 항법 초기 방위각 정렬 알고리즘
   2.1 시스템 및 환경
   2.2 항법 초기 방위각 측정
   2.3 확장 칼만 필터를 적용한 방위각 추정 알고리즘
3. 항법 알고리즘
4. 실해역 실험
   4.1 실험 환경
   4.2 실험 방식
   4.3 실험 결과
5. 결 론
References

초록

This paper describes an alignment algorithm that estimates the initial heading angle of AUVs (Autonomous Underwater Vehicle) for starting navigation in a sea area. In the basic dead reckoning system, the initial orientation of the vehicle is very important. In particular, the initial heading value is an essential factor in determining the performance of the entire navigation system. However, the heading angle of AUVs cannot be measured accurately because the DCS (Digital Compass) corrupted by surrounding magnetic field in pointing true north direction of the absolute global coordinate system (not the same to magnetic north direction). Therefore, we constructed an experimental constraint and designed an algorithm based on extended Kalman filter using only inertial navigation sensors and a GPS (Global Positioning System) receiver basically. The value of sensor covariance was selected by comparing the navigation results with the reference data. The proposed filter estimates the initial heading angle of AUVs for navigation in a sea area and reflects sampling characteristics of each sensor. Finally, we verify the performance of the filter through experiments.