Journal
OCEAN ENGINEERING
Volume 34, Issue 3-4, Pages 416-425Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2006.03.011
Keywords
underwater navigation; pseudo long base line (PLBL); acoustic positioning system (APS); inertial measurement unit (IMU); unmanned underwater vehicle (UUV)
Funding
- Korea Institute of Marine Science & Technology Promotion (KIMST) [I10700107A190000100] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper presents an integrated navigational algorithm for unmanned underwater vehicles (UUV) using two acoustic range transducers and strap-down inertial measurement unit (SD-IMU). A range measurement model is derived for a UUV having one acoustic transducer and cruising around two reference transponders at sea floor or surface. The proposed algorithm, called pseudo long base line (PLBL), estimates the position of the 'vehicle integrating the SD-IMU signals corrected with the two range measurements. Extended Kalman filter was applied to propagate error covariance, to update measurement errors and to correct state equation whenever the external measurements are available. Simulations were conducted to illustrate the effectiveness of the PLBL using the 6-d.o.f. nonlinear numerical model of a UUV at current flow, excluding bottom-fixed DVL. This paper also shows the error convergence of the vehicle's initial position by the additional range measurements without velocity information. (c) 2006 Elsevier Ltd. All rights reserved.
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