STUDY ON UNDERWATER NAVIGATION FOR AN UNDERWATER TRACK VEHICLE SCIE SCOPUS

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Title
STUDY ON UNDERWATER NAVIGATION FOR AN UNDERWATER TRACK VEHICLE
Author(s)
Ji, Dae Hyeong; Hyeung-Sik Choi; Sang-Ki Jeong; Hyun-Joon Cho; Ji-Hyeong Lee; Wen-Hsiang Hsieh
KIOST Author(s)
Ji, Dae Hyeong(지대형)Jeong, Sang Ki(정상기)
Publication Year
2020-12
Abstract
In this study, an underwater navigation algorithm was developed to apply a navigation system to an underwater track vehicle (UTV). Generally, a Doppler velocity log (DVL) is used to obtain the velocity information of underwater vehicles. However, a DVL cannot be used in a UTV owing to vehicle vibration and limited sensing distance. Hence, dead reckoning navigation is typically used, which results in severe errors in altitude and position values over long periods of operation. To address these problems, in this study, we developed a new underwater navigation system for a UTV using navigation sensors comprising an inertial navigation system, an ultra-short baseline, and an encoder sensor on a track wheel. We performed mathematical modeling of the accelerometer, gyroscope, and magnetometer. We constructed a navigation system composed of electronic hardware, a control system, an operating system, and a navigation system and then performed a navigation experiment. Finally, we verified the performance of the developed underwater navigation system using real sea area experiments.
ISSN
1023-2796
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/39681
DOI
10.6119/JMST.202012_28(6).0008
Bibliographic Citation
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN, v.28, no.6, pp.528 - 537, 2020
Publisher
NATL TAIWAN OCEAN UNIV
Subject
GPS; MAGNETOMETER; SYSTEM
Keywords
underwater navigation; underwater track vehicle; inertial navigation system; dead reckoning; ultra-short baseline
Type
Article
Language
English
Document Type
Article
Publisher
NATL TAIWAN OCEAN UNIV
Related Researcher
Research Interests

Unmanned system,Marine security,무인체계,해양방위

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