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고낙용(Nak Yong Ko),정석기(Seokki Jeong) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.9
This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.
고낙용(Nak Yong Ko),송경섭(Gyeongsub Song),정석기(Seokki Jeong),이종무(Jong-Moo Lee),최현택(Hyun-Taek Choi),문용선(Yong Seon Moon) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.2
This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.