자율무인잠수정의 운항 중 위치 기반 정렬 알고리즘 성능 향상 기법 (Performance Enhancement Technique for Position-based Alignment Algorithm in AUV’s Navigation)

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 29권 / 9호 / 740 ~ 747페이지
· 저자명 : 이권수, 최기환, 이필엽, 김호성, 이한솔, 강형주, 이지홍

초록

This paper presents an improved approach for in-motion alignment based on position estimation to accurately determine the initial heading-angle of an autonomous underwater vehicle. The existing method for in-motion alignment is highly sensitive to errors from GPS reception and the localization algorithm, particularly in the vicinity of the starting point. Consequently, compensation values for the heading-angle obtained in the vicinity of the starting point are unreliable. To address this issue, this study analyzes the variance of the heading-angle compensation during the early stage of the alignment process, aiming to assess the reliability of the compensation value. By using variance as a criterion, the algorithm determines whether to continue the execution of the early stage in the alignment process. If the variance falls below a certain threshold, the algorithm calculates the correction value of the final heading-angle based on each correction value. The proposed algorithm is validated through practical experiments using sensor data collected from real-sea environments. The experimental results demonstrate an average improvement of 50.48% in localization performance with respect to the existing algorithm. Therefore, the proposed algorithm enhances the performance of the in-motion alignment algorithm.

영어초록

This paper presents an improved approach for in-motion alignment based on position estimation to accurately determine the initial heading-angle of an autonomous underwater vehicle. The existing method for in-motion alignment is highly sensitive to errors from GPS reception and the localization algorithm, particularly in the vicinity of the starting point. Consequently, compensation values for the heading-angle obtained in the vicinity of the starting point are unreliable. To address this issue, this study analyzes the variance of the heading-angle compensation during the early stage of the alignment process, aiming to assess the reliability of the compensation value. By using variance as a criterion, the algorithm determines whether to continue the execution of the early stage in the alignment process. If the variance falls below a certain threshold, the algorithm calculates the correction value of the final heading-angle based on each correction value. The proposed algorithm is validated through practical experiments using sensor data collected from real-sea environments. The experimental results demonstrate an average improvement of 50.48% in localization performance with respect to the existing algorithm. Therefore, the proposed algorithm enhances the performance of the in-motion alignment algorithm.

참고자료

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