Title :
Review on Underwater Navigation System Based on Range Measurements from One Reference
Author :
Lee, Pan-Mook ; Jun, Bong-Huan ; Lim, Yong-Kon
Author_Institution :
MOERI, Korea Ocean R&D Inst., Daejeon
Abstract :
This paper reviews the underwater navigation system based on range measurements from a known reference station and extends it to 3-dimensional coordinate. We formulate the state equation in polar coordinate and derive a condition to keep observability of the navigation system. An autonomous underwater vehicle cruising with constant speed can estimate its trajectory with range measurements and additional depth, heading and pitch sensors only. Simulation studies are performed to evaluate the underwater navigation of a maneuvering AUV with range measurements. Simulation results illustrate that the extended navigation system provides convergence of the states estimates even with initial position errors.
Keywords :
navigation; oceanographic equipment; remotely operated vehicles; underwater vehicles; 3D coordinate; autonomous underwater vehicle; initial position errors; maneuvering AUV; pitch sensors; polar coordinate; range measurements; state equation; underwater navigation system; Convergence; Coordinate measuring machines; Equations; Navigation; Observability; Sea measurements; Sensor systems; Target tracking; Underwater vehicles; Velocity measurement;
Conference_Titel :
OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2125-1
Electronic_ISBN :
978-1-4244-2126-8
DOI :
10.1109/OCEANSKOBE.2008.4531072
