원문정보
초록
영어
Autonomous Navigation Vehicle (AUV) navigates to the specified longitude and latitude on water surface by means of Global Positioning System (GPS), Inertial Navigation System (INS) and Electronic Compass (EC), then dives to the specified depth according to the measurements of Depth Gauge (DG). To overcome the low location accuracy of existing navigation technologies in AUV, an integrated navigation method based on multi-sensor data fusion of GPS/INS/EC/DG has been proposed. Since the systematic stability and high precision in short-term measurement of INS, it takes the INS as common reference system. The problem which measurement error accumulates with time is solved by the combination of four sub-filters and a main filter. The sub-filters output the measured velocity, position, orientation and depth error to the main filter, which fuse the data to obtain the global optimal estimation and feedback to the INS system. Realistic environment parameters are simulated in MATLAB to verify the rationality of the navigation algorithm. The feasibility of method is proved by the comparison of position errors with and without combined navigation.
목차
1. Introduction
2. Overall Design
3. Integrated Navigation Algorithm
3.1. Coordinate System Conversion
3.2. Position Sub-filters of INS and GPS
3.3. Velocity Sub-filter of INS and GPS
3.4. Orientation Sub-filter of INS and EC
3.5. Depth Sub-filter of INS and DG
3.6. Data Fusion Algorithm of the Main Filter
4. Simulation Experiment of Integrated Navigation Algorithm
5. Conclusions
Acknowledgements
References