Sonar sensor와 GPS - INS를 융합한 무인잠수정의 무인항법장치 연구

Abstract

In this paper, I studied for the navigation system of unmanned underwater vehicle.

The INS(Inertia Navigation System) is composed of 3-axis angular velocity, acceleration and geomagnetic sensor. The Extended Kalman filter is applied to filter out noises of the sensors and to estimate the real sensor states.

Here, to compensate sensor errors, we applied at reference data.

An experimental device was built to test the performance of the composed INS of USBL and AHRS.