Simulation of an inertial acoustic navigation system with range aiding for an autonomous underwater vehicle

IEEE Journal of Oceanic Engineering

Volumn 32, Issue 2, 2007, Pages 327-345

  Lee, Pan Mook ^a   Jun, Bong Huan ^a   Kim, Kihun ^a   Lee, Jihong ^b   Aoki, Taro ^c   Hyakudome, Tadahiro ^c  

^a Korea Research Institute of Ships and Ocean Engineering   (South Korea)

^b Chungnam National University   (South Korea)

^c JAPAN AGENCY FOR MARINE EARTH SCIENCE AND TECHNOLOGY   (Japan)

Author keywords

Acoustic range sensor; Doppler velocity log (DVL); Inertial measurement unit (IMU); Underwater navigation

Indexed keywords

EQUATIONS OF MOTION; EXTENDED KALMAN FILTERS; INERTIAL NAVIGATION SYSTEMS; MONTE CARLO METHODS; SENSORS; UNDERWATER ACOUSTICS; UNITS OF MEASUREMENT;

ACOUSTIC NAVIGATION; AUTONOMOUS UNDERWATER VEHICLES (AUV); DOPPLER VELOCITY LOGS; INERTIAL MEASUREMENT UNIT; INTEGRATED NAVIGATION SYSTEMS; RANGE SENSORS; STRAPDOWN INERTIAL NAVIGATION SYSTEM; UNDERWATER NAVIGATION;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 51449118579     PISSN: 03649059     EISSN: None     Source Type: Journal    
DOI: 10.1109/JOE.2006.880585     Document Type: Article

References (29)

1. D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology. London, U.K.: Peter Pegerinus, 1997, pp. 19-56, 259-320, and 385-392.
2. D. B. Marco and A. J. Healey, "Command, control, and navigation experimental results with the NPS ARIES AUV," IEEE J. Ocean. Eng., vol. 26, no. 4, pp. 466-476, Oct. 2001.
3. X. Yun, E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. L. Roberts, R. H. Knapp, A. J. Healey, and M. J. Zyda, "Testing and evaluation of an integrated GPS/INS system for small AUV navigation," IEEE J. Ocean. Eng., vol. 24, no. 3, pp. 396-404, Jul. 1999.
4. P. E. An, A. J. Healey, S. M. Smith, and S. E. Dunn, "New experimental results on GPS/INS navigation for Ocean Voyager II AUV," in Proc. Conf. Autonom. Underwater Veh. (AUV), 1996, pp. 249-255.
5. B. Vik and T. I. Fossen, "A nonlinear observer for GPS and INS integration," in Proc. IEEE Conf. Decision Control, Orlando, FL, 2001, pp. 2956-2961.
6. A. Alcocer, P. Oliveira, and A. Pascoal, "Study and implementation of an EKF GIB-based underwater positioning system," in Proc. IFAC Conf. Control Appl. Mar. Syst. (CAMS), Ancona, Italy, 2004.
7. M. B. Larsen, "Autonomous navigation of underwater vehicles," Ph.D. dissertation, Technical Univ. Denmark, Kgs. Lyngby, Germany, 2001.
8. L. L. Whitcomb, D. R. Yoerger, and H. Singh, "Towards precision robotic maneuvering, survey and manipulation in unstructured undersea environments," in Proc. Int. Symp. Robot. Res., London, U.K., 1998, pp. 45-54.
9. L. L. Whitcomb, D. R. Yoerger, and H. Singh, "Combined Doppler/LBL based navigation of underwater vehicles," in Proc. Int. Symp. Unmanned Untethered Submersible Technol., Durham, NH, 1999, pp. 1-6.
10. J. C. Kinsey and L. L. Whitcomb, "Toward in-situ calibration of gyro and Doppler navigation sensors for precise underwater vehicle navigation," in Int. Conf. Robot. Automat. (ICRA), 2002, pp. 4016-4023.
11. J. C. Kinsey and L. L. Whitcomb, "Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles," Control Eng. Practice, vol. 12, no. 12, pp. 1541-1549, 2004.
12. L. Whitcomb, D. Yoerger, and H. Singh, "Advances in Doppler-based navigation of underwater robotic vehicles," in Int. Conf. Robot. Automat. (ICRA), 1999, pp. 399-406.
13. P. Oliveira and A. Pascoal, "Navigation systems design: An application of multi-rate filtering," in Proc. IEEE OCEANS, Nice, France, 1998, pp. 1348-1353.
14. P. Lee, C. Lee, S. Kim, B. Jeon, S. Hong, and T. Aoki, "Preliminary study on the inertial-Doppler localization of a deep-sea launcher hanging on a cable," presented at the 3rd Int. Sci. Submarine Cable Workshop, Tokyo, Japan, 2003.
15. C. Lee, P. Lee, S. Hong, S. Kim, and W. Seong, "Underwater navigation system based on an inertial sensor and a Doppler velocity log using indirect feedback Kalman filter," Int. J. Offshore Polar Eng., vol. 15, no. 2, pp. 88-95, 2005. (Pubitemid 40935989)
16. G. M. Trimble, "The Doppler inertial acoustic system for littoral navigation (DIAS)," in Proc. Conf. Autonom. Underwater Veh. (AUV), 1998, pp. 27-33.
17. IXSEA, "GAPS portable calibration-free USBL" [Online]. Available: http://www.ixsea.com
18. J. Jouffroy and J. Opderbecke, "Underwater vehicle trajectory estimation using contracting PDE-based observers," in Amer. Control Conf., Boston, MA, 2004, pp. 4108-4113.
19. S. Beiter, R. Poquette, B. S. Filipo, and W. Goetz, "Precision hybrid navigation system for varied marine applications," in Proc. IEEE Position Location Navigation Symp., 1998, pp. 316-323.
20. M. Uliana, F. Andreucci, and B. Papalia, "The navigation system of an autonomous underwater vehicle for Antarctic exploration," in Proc. MTS/IEEE Oceans Conf., 1997, vol. 1, pp. 403-408.
21. A. Gadre and D. J. Stilwell, "Toward underwater navigation based on range measurements from a single location," in Proc. IEEE Int. Conf. Robot. Automat., New Orleans, LA, 2004, pp. 4472-4477.
22. P. Lee, S. Kim, B. Jeon, H. Choi, and C. Lee, "Improvement on an inertial-Doppler navigation system of underwater vehicles using a complementary range sonar," in Proc. Int. Symp. Underwater Technol. (UT), Taipei, Taiwan, 2004, pp. 133-138.
23. P. Lee and B. Jun, "Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurement," Ocean Eng., vol. 34, no. 3-4, pp. 416-425, Mar. 2007. (Pubitemid 46196255)
24. J. Farrell and M. Barth, The Global Positioning System and Inertial Navigation. New York: McGraw-Hill, 1999, ch. 6, pp. 187-239.
25. A. Gelb, Applied Optimal Estimation. Cambridge, MA: MIT Press, 1974.
26. Honeywell, "User's Manual for HG1700 IMU" Minneapolis, MN, 2001, Aerospace Electronic Systems, Sensors and Guidance Products.
27. RD Instruments Inc., "Acoustic Doppler current Profilers - Workhorse Navigator Doppler Velocity Log Technical Manual" P/N 957-6023-00, Oct. 1997.
28. S. Hong, P. Lee, Y. Lim, C. Lee, B. Jeon, J. Park, Y. Choi, S. Kim, and J. Seo, "Design and implementation of a dual use purpose semi-autonomous underwater vehicle," in Proc. Underwater Defense Technol. Conf., Jeju Island, Korea, 2002.
29. B. H. Jeon, P. M. Lee, J. H. Li, S. W. Hong, Y. G. Kim, and J. Lee, "Multivariable optimal control of an autonomous underwater vehicle for steering and diving control in variable speed," in Proc. MTS/IEEE OCEANS Conf., San Diego, CA, 2002, pp. 2659-2664.