An integrated navigation system for autonomous underwater vehicles with two range sonars, inertial sensors and Doppler velocity log

Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600) Pub Date : 2004-11-09 DOI:10.1109/OCEANS.2004.1406359

P.M. Lee, B. Jeon, S.M. Kim, H.T. Choi, C. Lee, T. Aoki, T. Hyakudome

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引用次数: 33

Abstract

This work presents an integrated navigation system for autonomous underwater vehicles with inertial and acoustic sensors. The integrated navigation system is based on a strap-down inertial measurement unit (IMU), where auxiliary navigation sensors are two range sonars, a Doppler velocity log (DVL), a magnetic compass and a depth sensor. The main idea of the paper is to improve the performance of the IMU-DVL navigation system by introducing additional range information. The range sonars can measure the distance and the incident angle from a reference transponder on an underwater station. The range sonars are modeled to improve the navigation algorithm, which could provide valuable information for the IMU-DVL navigation to reduce estimation error, especially when the DVL cannot detect the bottom reflection. Simulation was conducted with the 6-d.o.f. nonlinear numerical model of an AUV in lawn-mowing survey mode at tidal flow, where the bottom reflected DVL information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system assisted by the additional range measurements.

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一种集成导航系统，用于自主水下航行器，具有两个距离声纳，惯性传感器和多普勒速度日志

本文提出了一种具有惯性和声学传感器的自主水下航行器组合导航系统。综合导航系统基于捷联惯性测量单元(IMU)，辅助导航传感器包括两个距离声纳、一个多普勒速度日志(DVL)、一个磁罗盘和一个深度传感器。本文的主要思想是通过引入附加距离信息来提高IMU-DVL导航系统的性能。距离声呐可以测量来自水下站参考应答器的距离和入射角。对距离声呐进行建模，改进了导航算法，为IMU-DVL导航提供了有价值的信息，以减小估计误差，特别是在DVL无法检测到底部反射的情况下。采用六自由度系统进行了仿真。潮汐流条件下水下机器人割草测量模式的非线性数值模型，其中底部反射DVL信息不可用。仿真结果验证了附加距离测量辅助下组合导航系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600)

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