Implementation of Deep-sea UUV Precise Underwater Navigation based on Multiple Sensor Fusion
Kihun Kim, Hyun‐Taek Choi, Sea-Moon Kim, Pan-Mook Lee, Chong-Moo Lee, Seong-Kwon Cho · Journal of Ocean Engineering and Technology · 2010
This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.