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부가정보

다국어 초록 (Multilingual Abstract)

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

목차 (Table of Contents)

Abstract
1. 서론
2. 수중 자율이동체 수력학 모델
3. 표준 수력학 모델 기반 AUV 속도추정 알고리듬
4. 모의실험

Abstract
1. 서론
2. 수중 자율이동체 수력학 모델
3. 표준 수력학 모델 기반 AUV 속도추정 알고리듬
4. 모의실험
5. 결론
References

참고문헌 (Reference)

1 박용곤종, "무인자율수중운동체의 보정항법을 위한 축소된 오차 모델" 제어·로봇·시스템학회 20 (20): 584-591, 2014

2 C. -M. Lee, "Underwater Navigation System based on Inertial Sensor and Doppler Velocity Log using Indirect Feedback Kalman Filter" 2005

3 D. H. Titterton, "Strapdown inertial navigation technology" The Institution of Electrical Engineers 2004

4 M. Gertler, "Standard Equations of Motion for Submarine Simulation" David W Taylor Naval Ship Research and Development Center Bethesda MD 1967

5 Ø. Hegrenæs, "Model Aided Inertial Navigation for Underwater Vehicles, Model-Aided INS with Sea Current Estimation for Robust Underwater Navigation" 316-337, 2011

6 M. Koifman, "Inertial Navigation System Aided by Aircraft Dynamics" 487-493, 1999

7 J. N. Sur, "Autonomy levels and trends of unmanned underwater vehicle" 20-29, 2011

8 J. J. Leonard, "Autonomous Underwater Vehicle Navigation" 1998

9 J. C. Kinsey, "A Survey of Underwater Vehicle Navigation : Recent Advances and New Challenges" 2006