DVL/RPM Based Velocity Filter Aiding in the Underwater Vehicle Integrated Inertial Navigation System

Tae Suk Yoo

doi:10.4236/jst.2014.43015

Abstract

The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The integrated navigation sensor using DVL (Doppler Velocity Log) is widely used to improve the underwater navigation performance. However, the DVL’s range of measuring varied depending on the characteristics of sensor. So, if the sea gets too deep suddenly, it cannot measure the velocity. To complement such a weak point, the VKF was additionally designed, which was made of DVL, RPM (Revolve Per Minutes) of motor, and ES (Echo Sounder). The proposed approach relies on a VKF, augmented by an altitude from ES based switching architecture to yield robust performance, even when DVL exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate the proposed method, we compare the VKF aided navigation system with PINS (Pure Inertial Navigation System) and conventional INS-DVL navigation system through simulation results. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

Highlights

The Inertial Navigation System (INS) is designed to provide on attitude, velocity and position of vehicle usingHow to cite this paper: Yoo, T.S. (2014) DVL/RPM Based Velocity Filter Aiding in the Underwater Vehicle Integrated Inertial Navigation System
Though the INS is correct in short period of time, its information gets incorrect as the time passes by because of its characteristic of getting the information using the integration of angular velocity and acceleration as well as its accumulated errors in sensor and initial arrangement
If we look at the data of ES, it is understood that the zone exceeding the altitude of 100 m has been modeled

Summary

Introduction

The Inertial Navigation System (INS) is designed to provide on attitude, velocity and position of vehicle usingHow to cite this paper: Yoo, T.S. (2014) DVL/RPM Based Velocity Filter Aiding in the Underwater Vehicle Integrated Inertial Navigation System. The Inertial Navigation System (INS) is designed to provide on attitude, velocity and position of vehicle using. Though the INS is correct in short period of time, its information gets incorrect as the time passes by because of its characteristic of getting the information using the integration of angular velocity and acceleration as well as its accumulated errors in sensor and initial arrangement. The position error of navigation system which acquires motion information from INS is increased as operation time goes. To overcome this weakness of INS, there are a lot of methods such as using the external devices such as GPS (global positioning system), speedometer, barometer, and magnetic compass. On land, the integrated navigation system using GPS is widely used [1] [2]

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Conclusion