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.


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    Titel :

    A Study on Heading and Attitude Estimation of Underwater Track Vehicle


    Beteiligte:
    Ji, Dae-Hyeong (Autor:in) / Choi, Hyeung-Sik (Autor:in) / Jeong, Sang-Ki (Autor:in) / Oh, Ji-Youn (Autor:in) / Kim, Seo-Kang (Autor:in) / You, Sam-Sang (Autor:in)

    Erscheinungsdatum :

    18.03.2019


    Anmerkungen:

    Advances in Technology Innovation; Vol 4 No 2 (2019): April; 84-93 ; 2518-2994 ; 2415-0436


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Attitude and Heading References

    Kayton, Myron / Wing, Willis G. | Wiley | 1997


    Heading and attitude sensor (HAS)

    Airlines Electronic Engineering Committee | TIBKAT | 1969



    Underwater vehicle attitude adjusting device

    YIN YUNLONG / XIN AIXUE / FAN KAIGUO et al. | Europäisches Patentamt | 2021

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