DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles

LIU Peijia; QIN Liping; LI Guanghua; HOU Dongdong; ZHU Zhengyu

doi:10.11993/j.issn.2096-3920.202204006

Volume 31 Issue 3

Jun 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(3): 373-380

LIU Peijia, QIN Liping, LI Guanghua, HOU Dongdong, ZHU Zhengyu. DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 373-380. doi: 10.11993/j.issn.2096-3920.202204006

Citation:

LIU Peijia, QIN Liping, LI Guanghua, HOU Dongdong, ZHU Zhengyu. DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 373-380. doi: 10.11993/j.issn.2096-3920.202204006

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DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles

doi: 10.11993/j.issn.2096-3920.202204006

LIU Peijia^{1, 3
,},
QIN Liping^{2, 3},
LI Guanghua^{2, 3},
HOU Dongdong^{2, 3},
ZHU Zhengyu^{1
,
,}

1.
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China
2.
713th Research Institute, China State Shipbuilding Corporation Limited, Zhengzhou 450015, China
3.
Henan Key Laboratory of Underwater Intelligent Equipment, Zhengzhou 450015, China

Received Date: 2022-04-10
Rev Recd Date: 2022-08-12

Available Online: 2023-05-19

Abstract

Abstract

In response to the requirement for autonomous navigation capability of unmanned undersea vehicles, a dead-reckoning navigation system composed of a Doppler velocity log(DVL), a pressure sensor, an electronic compass(ECP), and a low-cost inertial measurement unit(IMU) is designed in this study, and a DVL-based autonomous navigation method is developed. In the proposed method, a sensor integration scheme is implemented to overcome the installation error and time asynchrony. An ECP/IMU fusion scheme is developed for high-frequency attitude parameters. On this basis, the strategies for the elimination of DVL abnormal data, the correction of DVL high dynamic errors and the assistance of global navigation satellite system are formulated. The proposed method is applied on the “Haiwei 1” autonomous undersea vehicle(AUV). The filed experiments of “Haiwei 1” AUV indicate that the positioning accuracy of the autonomous navigation corresponds to approximately 1.5%(circular error probable) of the distance traveled, which can serve as a reference for related researches and applications.
- unmanned undersea vehicle,
- autonomous navigation,
- dead-reckoning,
- DVL-based navigation

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References(22)

References

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