NDLI: An integrated navigation systems for underwater vehicles based on inertial sensors and pseudo LBL acoustic transponders

Content Provider	IEEE Xplore Digital Library
Author	Pan-Mook Lee Bong-Huan Jun Hyun Taek Choi Seok-Won Hong
Copyright Year	2005
Description	Author affiliation: Korea Res. Inst. of Ships & Ocean Eng., South Korea (Pan-Mook Lee; Bong-Huan Jun; Hyun Taek Choi; Seok-Won Hong)
Abstract	This paper presents an integrated underwater navigation system for underwater vehicles using inertial sensors and range sonar. We supposes that two acoustic transponders, called pseudo long baseline (LBL) system, are installed at two reference stations on sea bottom or below surface and/or ice. The navigation system is based on a strap-down inertial measurement unit (SD-IMU) mounted on an underwater vehicle and assisted with auxiliary navigation sensors, such as Doppler velocity log (DVL), depth, and heading sensors. Range measurement transducers are additional auxiliary navigation sensors. Using the two range measurements, the proposed navigation system will be able to improve the performance of conventional IMU-DVL navigation systems for long-time operation of underwater vehicles, and useful even without DVL information. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulations were conducted with the 6-d.o.f. nonlinear numerical model of an AUV in lawn-mowing survey mode under current flow condition. Navigation performance is surveyed for the cases when the bottom reflected DVL information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system assisted by the additional range measurements and robustness on initial position error.
Starting Page	555
Ending Page	562
File Size	5965154
Page Count	8
File Format	PDF
ISBN	0933957343
DOI	10.1109/OCEANS.2005.1639813
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Underwater vehicles Sensor systems Acoustic sensors Underwater acoustics Transponders Sonar navigation Sea measurements Sonar measurements Sea surface Ice surface
Content Type	Text
Resource Type	Article

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