A Study on Heading and Attitude Estimation of Underwater Track Vehicle

Authors

  • Dae-Hyeong Ji Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea
  • Hyeung-Sik Choi Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea
  • Sang-Ki Jeong Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea
  • Ji-Youn Oh Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea
  • Seo-Kang Kim Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea
  • Sam-Sang You Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, Korea

Keywords:

ring laser gyro(RLG), ultra-short baseline(USBL), Attitude reference system(ARS), inertial navigation system(INS), extended kalman filter(EKF)

Abstract

In this paper, we studied the designing and manufacturing of an underwater track vehicle (UTV) that can be operated in the underwater environment. We designed the electrical and control system for precise operation of the UTV and conduct test operation by using the UTV. We developed an attitude reference system (ARS) that was composed of the ring laser gyro (RLG) sensor, a geomagnetic sensor, and USBL sensor to estimate precise heading and attitude of the UTV. An inertial navigation system (INS) is developed to be combined with the developed ARS. Also, the INS navigation is configured by supplementing the USBL sensor information. We design a controller for a precise trajectory and attitude tracking by installing the ARS on the UTV. In this paper, we used an extended Kalman filter in the INS to estimate the position and attitude of the UTV. The ARS is studied to obtain more precise sensor information in an uncertain environment underwater. Performance tests of the developed INS using the UTV are conducted and the results show that the system has the best performance.

References

T. S. Kim, I. S. Jang, C. J. Shin, and M. K. Lee, “Underwater construction robot for rubble leveling on the seabed for port construction,” 14th International Conference on Control, Automation and Systems, 2014, pp. 1657-1661.

C. H. Kim, T. S. Kim, and M. K. Lee, “Study on the estimation of the cylinder displacement of an underwater robot for harbor construction using a pressure sensor,” Journal of Navigation and Port Research, vol. 36, no. 10, pp. 865-871, 2012.

D. H. Choi, Y. J. Lee, S. M. Hong, H. S. Choi, and J. Y. Kim, “A study on dynamic modeling for underwater tracked vehicle,” Journal of Ocean Engineering and Technology, vol. 29, no. 5, pp. 386-391, 2015. [4] J. H. Kim, H. G. Min, J. D. Cho, J. H. Jang, S. H. Kwon, and E. T. Jeung, “Design of angular estimator of inertial sensor using the least square method, ” World Academy of Science, Engineering and Technology, vol. 60, pp. 1541-1544, 2009. [5] D. Jung and P. Tsiotras, “Inertial attitude and position reference system development for a small UAV,” In AIAA Infotech@ Aerospace 2007 Conference and Exhibit, May 2007, pp. 2763. [6] Y. C. Lai, S. S. Jan, and F. B. Hsiao, “Development of a low-cost attitude and heading reference system using a three-axis rotating platform,” Sensors, vol. 10, no. 4, pp. 2472-2491, 2010. [7] D. Gebre-Egziabher, R. C. Hayward, and J. D. Powell, “A low-cost GPS/inertial attitude heading reference system (AHRS) for general aviation applications,” Proc. of the 1998 IEEE Position Location and Navigation Symposium, January 1998, pp. 518-525. [8] W. Qin, W. Yuan, H. Chang, L. Xue, and G. Yuan, “Fuzzy adaptive extended kalman filter for miniature attitude and heading reference system,” In Proc. of the 2009 4th IEEE International Conference on Nano/Micro Engineered and Molecular Systems, January 2009, pp. 1026-1030. [9] J. L. Marins, X. Yun, E. R. Bachmann, R. B. McGhee, and M. J. Zyda, “An extended kalman filter for quaternion-based orientation estimation using MARG sensors,” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 2001, vol. 4, pp. 2003-2011.

D. W. Jung, S. M. Hong, J. H. Lee, H. J. Cho, H. S. Choi, and M. T. Vu, “A study on unmanned surface vehicle combined with remotely operated vehicle system,” Proceedings of Engineering and Technology Innovation (2018), vol. 9, pp. 17-24.

H. S. Yu, C. J. Kim, C. K. Song, and H. W. Park, “An application of large heading attitude model for initial alignment of inertial navigation system,” The Korean Society for Aeronautical and Space Sciences, pp. 1983-1988, 2012.

H. S. Yu, S. W. Choi, and S. J. Lee, “Nonlinear filtering approaches to in-flight alignment of SDINS with large initial attitude error,” Journal of Institute of Control Robotics and Systems, pp. 468-473, 2014.

T. H. Chung, K. W. Song, and B. J. Chang, “Design of the kalman filter for transfer alignment of strapdown inertial navigation system,” Journal of Institute of Control, Robotics and Systems, 1991, pp. 142-146.

Downloads

Published

2019-03-18

How to Cite

[1]
D.-H. Ji, H.-S. Choi, S.-K. Jeong, J.-Y. Oh, S.-K. Kim, and S.-S. You, “A Study on Heading and Attitude Estimation of Underwater Track Vehicle”, Adv. technol. innov., vol. 4, no. 2, pp. 84–93, Mar. 2019.

Issue

Vol. 4 No. 2 (2019): April

Section

Articles

License

Submission of a manuscript implies: that the work described has not been published before that it is not under consideration for publication elsewhere; that if and when the manuscript is accepted for publication. Authors can retain copyright in their articles with no restrictions. is accepted for publication. Authors can retain copyright of their article with no restrictions.

 

Since Jan. 01, 2019, AITI will publish new articles with Creative Commons Attribution Non-Commercial License, under The Creative Commons Attribution Non-Commercial 4.0 International (CC BY-NC 4.0) License.
The Creative Commons Attribution Non-Commercial (CC-BY-NC) License permits use, distribution and reproduction in any medium, provided the original work is properly cited and is not used for commercial purposes.

 

Most read articles by the same author(s)