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2, APRIL 2007
327
I. INTRODUCTION
TRAPDOWN inertial navigation systems (SDINSs) composed of three accelerometers and three gyros are fascinating sensors for the localization and navigation of underwater
Manuscript received February 18, 2006; accepted June 20, 2006. This
work was supported in part by the Ministry of Marine Affairs and Fisheries
(MOMAF) of Korea for the development of a deep-sea unmanned underwater
vehicle.
Associate Editor: L. L. Whitcomb.
P.-M. Lee, B.-H. Jun, and K. Kim are with the Maritime and Ocean Engineering Research Institute (MOERI), Korea Ocean Research and Development
Institute (KORDI), Daejeon 305-343, Korea (e-mail: pmlee@moeri.re.kr; bhjeon@moeri.re.kr; shaton@moeri.re.kr).
J. Lee is with the Mechatronics Engineering Department, Chungnam National
University, Daejeon 305-764, Korea (e-mail: jihong@cuvic.cnu.ac.kr).
T. Aoki and T. Hyakudome are with the Japan Agency for Marine-Earth
Science and Technology (JAMSTEC), Kanagawa 237-0061, Japan (e-mail:
aokit@jamstec.go.jp; hyaku@jamstec.go.jp).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/JOE.2006.880585
vehicles. The errors of inertial measurement units (IMUs), however, increase with time elapse due to the inherent bias errors
of gyros and accelerometers. Inertial navigation systems (INSs)
give accurate position information for short-time periods though
bias error accumulates with time. This accumulation leads to
a very large position error requiring that additional sensors be
needed to compensate for the position errors of the INS [1].
Successful surface navigation systems have been developed
by integrating the global positioning system (GPS) with inertial
sensors. GPS is a good positioning sensor for air, land, and maritime vehicles, but it is available only at surface and air. Therefore, using GPS for underwater navigation is limited to the case
of shallow-water operations as a vehicle must surface regularly
to update their position information with GPS [2][6].
An INS, especially a directional gyro, cooperating with a
Doppler velocity log (DVL) is a successful navigation system
for underwater vehicles [7][15]. Dead-reckoning (DR) navigation is useful when it can get the absolute velocity and attitude
of underwater vehicles. Even if the gyro is highly precise, the
navigation system still needs additional reference sensors, such
as GPS, long baseline (LBL), ultrashort baseline (USBL), etc.,
when it is operated in long-term duration, because of the scale
effects of velocity sensors. Furthermore, the initial localization
of an underwater vehicle equipped with an INS, even accompanied by DVL, is difficult to set exactly without additional information. Acoustic positioning systems have no accumulative
error, while they do have high-frequency error and their update
rate is usually low. LBL use is also limited when it comes to
arctic undersea surveys because of difficulties in launching and
recovering the transponders under ice.
USBL is hard to use alone for the accurate navigation and
control of an underwater vehicle [16]. However, USBL is one
of localization sensors, and it can be applicable for underwater
navigation combined with complementary sensors [17]. Jouffroy and Opderbecke [18] developed a trajectory estimation
technique using gyro-Doppler and USBL measurements, which
consists of diffusion-based observers processing a whole trajectory segment.
Larsen [7], Beiter et al. [19], and Uliana [20] successfully
proposed a hybrid navigation system based on an inertial sensor
combined with acoustic velocity sensors. Whitcomb et al.
[8][12] proposed navigation systems integrating a DVL signal
to an LBL system for the enhancement of position accuracy.
Lee et al. [14], [15] proposed an inertial navigation algorithm
assisted by DVL, depth, and heading sensors. The IMU-DVL
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329
(8)
(9)
(10)
(11)
(12)
(13)
(14)
330
(17)
(18)
Here, the model states that the variables and show random
walk process and have zero initial values and the variances
and
, respectively.
The auxiliary navigation sensors, that is, the depth sensor,
DVL, and the magnetic compass, are good complementary sensors for the inertial sensors. This paper modeled the errors of
the sensors as the summation of random constants and white
noises. We assumed that the random constants of the biases are
unknown but the variances of the initial values are known.
Then, we can express the differences of the estimates from
the SDINS and the measured values from the depth, DVL, and
heading sensors as follows:
(19)
(20)
(21)
is the bias error of the depth sensor,
is the bias
where
represents the heading bias, denotes the
error of the DVL,
Gaussian white noise, and its subscripts, and
, and
denote each component of the measurements. ^ denotes the estimated value. The variance of the depth, the DVL, and the
, and
, respectively.
heading sensors are
In (20),
means the estimated direction cosine related with
that is found as
the true
(22)
where
errors
(23)
and
and are the relative
where
positions of the vehicle from the reference station in the global
coordinates. In the range measurement, we can consider that one
is the position error caused
of the sources of the bias error
by the vehicles motion while the acoustic signal travels. The
.
variance of the random noise is defined as
C. IMU-DVL-RA Navigation Model
The IMU-DVL navigation system with RA, called
IMU-DVL-RA navigation, can be modeled as
(24)
where (25)(27), shown at the bottom of the page, hold.
given in the
The components of the system matrix
Appendix are the time-varying system matrix that are derived
from the differential equations of the SDINS (8)(10) and
has 21 error
the variation (11)(14). The state variable
states including the position errors, velocity errors, error of
attitude and heading angles, the bias errors of accelerometers,
gyros, range, depth, DVL, and heading. The system error
(25)
(26)
(27)
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331
(28)
.
which have mean zero and the error variance matrix
For digital implementation, we convert the system equation
to a discrete model with the sampling rate
(29)
and
.
where
The measurements of range, heading, depth, and velocities
provided by the external sensors constitute the Kalman filter
may be
measurement. The measurement difference at time
expressed in terms of the error state variables as
(30)
where (31)(34), shown at the bottom of the page, hold, and
denotes the skew symmetric matrix of the velocity.
Note that the sampling rate of the external measurement is
different from the high-frequency rate of the SDINS. Therefore, the error covariance of the discrete time measurement is
for the external measurement rate . Here, the
.
measurement error variance is
In addition, we note that the navigation (29) and the measurement (30) are observable having full column rank 21 over the ob. When the system state
servability matrix of the pair
is observable, it is possible to estimate the state in a minimum
of discrete-time steps, however, stability and robustness are
not usually guaranteed. Error convergence and robustness will
be discussed in the following sections.
The system matrix (26) is nonlinear and time varying. For
the underwater navigation algorithm, therefore, we implement
an EKF which has optimal performance for linear systems and
ad hoc nonlinear systems. We implemented the EKF [25] with
the system error model (29) and the measurement model (30).
The filter is multirate because of the different sample rates, and
this is achieved in two steps.
The dynamic system errors propagate forward with a highfrequency sample rate when the external measurements are un-
(36)
denotes the expected value of the covariance matrix at
predicted at time . The system integrates the signals
time
from the inertial sensors and calculates the attitude, velocity, and
position of the vehicle with the previous state errors.
When the external measurements are acquired, we can calculate the Kalman filter gain, update the error covariance matrix,
and estimate the system state errors. The estimates of the errors
of the navigation system states are derived using the measurement difference and the Kalman filter gain as follows:
(37)
The Kalman filter gain is calculated and the error covariance
matrix is updated according to
(38)
(39)
Fig. 3 depicts the schematic of the multirate EKF for the inertial acoustic navigation system with RA, namely, the IMUDVL-RA navigation system.
III. IMU-DVL NAVIGATION WITH RPA
This section presents an inertial acoustic navigation system
with range and phasing aiding. We assume that two range transand ,
ducers are installed on the upper side of an AUV,
respectively, and that a transponder is installed at a reference
station moored on the seafloor as shown in Fig. 2. The range
transmits an interrogation and the transponder at
transducer
responds after receiving the interrogathe reference station
tion signal. By receiving the response signal and calculating the
arrival time differences of the two range transducers, we can
measure the distance and the incident angle of the AUV
from the station.
in global
We suppose that the AUV is located at
is installed at
coordinate, and that the range transducer
(31)
(32)
(33)
(34)
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(40)
is the th row and th column component of
.
and
and the range
The distance between the reference station
is
. If the range transtransducer
ducer is installed at the rear of the AUV separated by distance
from
along the -axis as depicted in Fig. 2, we can denote
. Then, the incident angle can be de, where
fined with
and is confined to
. For simple notation, let
and
; then, the
incident angle is reduced to
(41)
This section derives a measurement error model for the range
and phase of the vehicle. Let
represent the bias error and
represent the random error of the range transducer . As
and
can be
in the previous section, the difference of
reduced to the first order as
(42)
and . This is the same
using the partial derivatives with
form as (23).
The estimated incident angle also includes estimation error
due to the error of the estimated position and attitude of the
AUV in a navigation system. The estimated incident angle can
where is the true incident angle.
be modeled as
The incident angle measurement also includes bias error and
random error similar to the range measurement model. Let
represent the bias error and
represent the random error of
the incident angle. Then, the measured incident angle can be
.
modeled as
can be obtained
The estimation error of the incident angle
and .
using (40) and (41) and partial derivatives with
The difference of and
is obtained to first order as
(43)
where
(46)
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333
Fig. 4. Rotating arm test setup with an artificial fish model equipped with IMU,
DVL, and depth sensor.
Fig. 3. Schematic diagram of the multirate EKF of the inertial acoustic navigation with RA.
to simulate the IMU-DVL-RA navigation system with the measured data. Experiments were performed in the OEB of MOERI,
.
KORDI, of which the size is 50 30 3.5 m in
An artificial small fish was attached to a rotating arm via a vertical strut so that it could make exact circular motions at various
speeds. The rotating arm was fixed at the center of the carriage
moving over the OEB. Its total length is 10 m and the fish model
was installed under the arm 8.0 m from the rotating center. Fig. 4
shows the rotating arm and the fish.
An IMU, a DVL, and a depth sensor were installed inside
the fish model. The inertial sensor used for the experiment is a
Honeywell IMU, HG1700AG11 [26]. It consists of three ring
laser gyros and three accelerometers of the resonant beam type.
The IMU has good performance for inertial measurements: the
bias, random noise, velocity random walk of the accelerometers
are 1 mg, 0.8 ft/s , 0.065 ft/s h, respectively, and the bias,
random noises, angular random walk of the gyros are 1 /h, 8
h, respectively. The output frequency is 100
mrad/s, 0.125
Hz. The DVL is a workhorse navigator (WHN) 300 from RD
Instruments, Inc., Poway, CA [27] and its operating frequency
is 300 kHz. It has four transducers in the Janus configuration
that make it possible to measure three directional velocities. It
has excellent performance of which the accuracy is 3 mm/s at
1-m/s vehicle speed and the maximum sample rate is 7 Hz. The
DVL includes a magnetic compass and a tilt sensor to measure
heading, roll, and pitch.
(48)
(49)
(50)
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TABLE I
SENSOR MODEL IN THE IMU-DVL NAVIGATION SYSTEM
WITH RANGE MEASUREMENT
The rotating experiment was performed for 23 min with constant speed of the fish at 0.5 m/s, and the sampling rate of the
IMU and the DVL at 100 and 2 Hz, respectively. The higher
sample frequency is desired to get better precision. Since the
experiment was conducted in the rectangular basin OEB, the
walls and bottom of the basin reflected the acoustic signals well.
Therefore, we have fixed the DVL sample rate at 2 Hz to get
stable data. During the first 20 s, the fish was stationary at the
initial position for the navigation system to process the initial
alignment of the inertial sensors. After 20 s, its rotating speed
was gradually increased until the fish speed reached 0.5 m/s.
As the speed of the vehicle increased, the noise level of the
gyros and the accelerometers from the IMU sensor increased
due to the vortex-induced vibration around the fish and the submerged parts of the strut. The rotating arm and the strut were
made of steel, but their lengths were long, therefore, it was hard
to make pure motions without vibratory random noise from the
fish connected to the flexible structure. We selected the measurement error variances of the gyros and the accelerometers from
the experiment as shown in Table I.
The measured heading signal showed distorted change during
the continuous rotation because of the magnetic fields variation
around the steel-structured carriage of the basin. The maximum
difference was 15 in heading angle. The magnetic compass
provides a heading reference with 0.1 accuracy but it is apt to
be contaminated by nearby magnetic bodies. Bias of the heading
sensor was set to 10 and bias of a depth sensor to 0.5 m. Tilt angles obtained from the DVL were inclined due to the centrifugal
force. The DVL signal also showed noisy data due to the vibratory motion of the fish and the attitude errors. We selected the
DVL error variances from the experiment as shown in Table I.
We simulated the inertial acoustic navigation with the error
variances of the sensors. Table I also depicts the bias errors and
random noises of the other sensors to simulate the navigation
system. The variances of each sensor are bigger than the specification of the sensor in factory.
The range sonar can measure the distance without bias error
in the stationary condition. In the real world, however, the bias
error of the range measurement will increase due to the motion
of the vehicle and environmental noise. We suppose the sample
rate of the range sensor is two samples per second. Since the
speed of the vehicle is 0.5 m/s and the time interval of the range
signal is 0.5 s, we conservatively set the bias error of the range
measurement to 0.25 m root mean square (rms) and the random
errors to 0.5 m rms.
Fig. 5. Estimated position and navigation errors with the IMU-DVL navigation
system excluding range measurement. (a) Estimated position in - plane.
(b) Estimation errors in - plane and 3-D space.
XY
XY
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Fig. 8. Estimated position errors of the fish with the IMU-DVL-RA navigation
system.
X -Y
accelerometers in the IMU [1]. While the vertical position estimation is directly corrected by the measured depth, the horizontal positions are indirectly updated with the DVL information. The DVL corrects the velocity so that the navigation
system includes integral effect of the bias error and the scale
effects of the velocity in the navigation algorithm. More precise DVL and IMU measurement are required to reduce the drift
of the navigation system, but the increment of the estimation
error with time elapse is unavoidable without eternal position
correction.
C. DR Navigation
DR navigation was performed to compare the performance
of the IMU-DVL and the IMU-DVL-RA navigation systems.
The DR navigation estimates position by integrating the measured velocity after transforming the measured velocity to the
navigation coordinates. Integration was performed with Eulers
method at every DVL sampling time, which is 0.5 s in this experiment. Fig. 6 shows the estimation error of the vehicle with the
DR navigation. The result indicates very similar performance to
the conventional IMU-DVL navigation system. Therefore, the
DR navigation is also a good navigation method when we get
exact initial position and can measure absolute velocity with the
DVL. On the other hand, the performance of the DR navigation
system can only be improved with a higher sample rate of the
DVL, such as 5 Hz.
D. IMU-DVL-RA Navigation
Simulation of the IMU-DVL-RA navigation system was performed. The error variance matrices of the system model and the
measurement model were defined with the standard deviations
of the sensors shown in Table I. The relative distance of the vehicle to the reference station was estimated using the estimated
position whenever the vehicle received the range information,
and it is updated into the measurement matrix (30). Every 0.5 s,
the navigational states and parameters in (29) were updated and
corrected with the range data. We updated the navigational states
and parameters using range information and DVL data at the
same time to meet the convenience of simulation, however, it is
not necessary to synchronize the two data acquisition systems.
Fig. 7 depicts the tracking errors of the IMU-DVL-RA navigation system. The navigation system with RA finely estimates
the position of the underwater vehicle in general. The position
error is increased due to the bias error of the range measurement. The estimation error of the proposed navigation system
with range measurement does not increase as time passes and
the error is less than 1.1 m along the whole simulation time. The
horizontal position error of the IMU-DVL navigation system assisted by the range information is less than the error of the conventional IMU-DVL and the DR navigation systems.
The accuracy of the IMU-DVL-RA navigation is independent
of time elapse. The strong point of the navigation with RA is that
it is able to eliminate the error accumulation of the conventional
IMU-DVL navigation system, which is unavoidable for conventional inertial acoustic navigation systems.
Note that the error slightly increased at around 1000 s. This
was caused by the estimation drift along the tangential line of a
circle centered at the reference station. Here, we define the circle
as range circle, of which the radius is the horizontal distance
between the reference station and the vehicle projected into the
- plane. In this case, the range circle is centered at ( 30, 30,
0) and its radius is 30 2 m. After the estimated position of the
vehicle reaches a point on the range circle, the range information does not affect the error correction in the navigation algorithm any more. This phenomenon is obvious especially when
the vehicle is in a stationary condition or moves along the range
circle. Sometimes it may generate wrong correction data in these
conditions.
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Fig. 9. Estimated position with the IMU-DVL-RA navigation system under 1-min dropout of DVL and range.
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Fig. 10. Estimated position with the IMU-DVL-RA navigation system under 2-min dropout of DVL and range.
Fig. 11. Estimated position errors with the IMU-DVL-RA navigation system when dropout occurs.
trajectory. In this simulation with the 2-min dropout, however, the position error is still 5 m after 6 min of resuming
the acoustic signals. For the application with the navigation system over the guidance and control of AUVs, it is
needed to keep the stabilizing time zone for a long time
when a long-duration dropout, longer than 1 min, happens.
338
Fig. 13. Estimated position of the IMU-DVL-RA navigation system with initial
position error ( 3.7884, 9.1459, 0.0).
than 5-s dropouts, or outliers of the acoustic signal without degrading the navigational performance. On the other hand, for
the 10-s dropout, the error is 5.65 m and it takes 110 s to converge within the 1.0-m errors. It also takes 110 s to recover the
trajectory for the 1-min dropout. The 30-s dropout shows similar result with the 1-min dropout. IMU-DVL-RA suffered from
1 min or less dropout and needs two more minutes to recover
the true trajectory.
V. EFFECTS ON INITIAL LOCALIZATION ERROR
Initial localization is required to get exact global position
when underwater vehicles begin navigation. Special techniques,
equipment, and times are required for the initialization of the
vehicle. The IMU-DVL-RA navigation system can regulate
the initial positioning error with range information. This paper
checks the sensitivity of IMU-DVL-RA to initial position errors
and convergence characteristics by Monte Carlo simulation.
To verify the convergence and stability of IMU-DVL-RA with
initial position error in local and global areas, we specify two
groups: the initial errors are small around the true position, and
the other errors are large (even located at the other side of the
reference station).
A. Convergence of Initial Errors Around True Position
Fig. 12. Estimated results of the IMU-DVL-RA navigation system with initial
position error ( 7.0, 7.0, 0.0). (a) Estimated position. (b) Trajectory of the position error. (c) Estimated position error.
Eleven points, having the same range 9.90 m apart from the
origin in - plane are selected to make clear comparisons
with their convergence characteristics. Fig. 12 shows the navigation results when the initial position error of the vehicle is
( 7.0, 7.0, 0.0) relative to the true position, which is located on
the parallel direction to reference points being 0.0 . Fig. 12(a)
shows the estimated trajectory of the vehicle, Fig. 12(b) the position error, and Fig. 12(c) the magnitude of the error. The initial
error exponentially converges to zero and tracks the true trajectory of the rotational motion of the vehicle. The range information corrects the 3-D position of IMU-DVL-RA augmented with
a depth sensor. The navigation system is strongly robust to the
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TABLE II
INITIALLY ESTIMATED POSITIONS OF THE VEHICLE
Fig. 14. Trajectories of the estimation errors with initial position errors.
Fig. 15. Convergence rates of the position error of the vehicle with initial
errors.
initial position error of the vehicle, where the offset error converges into 1.0-m spherical error radius within 2 min.
Fig. 13 shows the estimated trajectory when the initial position error of the vehicle is ( 3.7884, 9.1459, 0.0) in relative,
which is located on the direction with 22.5 counterclockwise.
The initial error exponentially converges to the range circle, and
then slowly converges to the true position. While the vehicle
moves in rotation, the range information corrects the position
error to zero along the tangential direction of the range circle.
The navigation system is also robust to the initial position error
of the vehicle, and the offset error converges into 1.0 m after
7 min.
Fig. 14 shows the position error trajectories from the 11 initial
error points around the true position, and Fig. 15 depicts the
convergence rates of the initial position errors in the first phase.
340
Fig. 16. Estimated position of the IMU-DVL-RA navigation system with the
initial position P ( 12.0, 24.0, 10.0) over the reference station (0.0, 0.0, 0.0):
the true position of the fish is (30.0, 30.0, 10.0).
Fig. 17. Trajectories of the position errors with the IMU-DVL-RA navigation
system when the initial location of the fish is (30, 30, 10).
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Fig. 18. Trajectories of the position errors with the IMU-DVL-RA navigation
system when the initial location of the fish is (15, 15, 5).
the range circle around the true position and improve the convergence rate. As the vehicle operates near the reference station,
the range sensor becomes more effective for the initial position
errors.
In Fig. 19, effectiveness of the range sensor can be found in
general; however, almost all the initial position errors are still
converging to the true position and it takes a longer time than
cases due to the larger range. The opposite side posithe
tions
and
are stagnated around the imaginary point of the
shows a large drift of 5 m after
true position. Furthermore,
converging to the true position. As the range becomes larger,
the range circle proportionally increases and the estimated position near true position becomes insensitive for the tangential
variation along the range circle. A larger circular motion of the
vehicle is required to reduce the drift of the estimated position
and to avoid stagnation around the opposite side area.
342
at (0, 50) m in the navigation coordinate. The bias and measurement errors of the range sonar were set to 0.25 and 0.5 m, respectively. After generating the constant bias errors and random
noises for each sensor, measurement signals were obtained by
adding them to the simulated data.
DR navigation was performed to check the validity of the
generated data and to compare the performance with the IMUDVL-RA navigation system. Fig. 20 shows the DR navigation
results. The moving path of the AUV is the dotted line and
the estimated position is the solid line in horizontal plane plot.
Fig. 20(a) and (b) shows the tracking errors with the DR navigation. The navigation system appropriately estimates the AUV
position. The position estimation error is within 2.0 m for the
500-s maneuvering.
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Taro Aoki received the B.S. degree from the University of Electro-communications, Tokyo, Japan, in
1972.
Since 1978, he has been a Senior Researcher
with the Marine Technology Department of the
Japan Agency for Marine-Science and Technology
(JAMSTEC), Kanagawa, Japan, and he is currently
Program Director of the Marine Technology Research and Development Program of JAMSTEC. He
has a lot of experience in research and development
of underwater vehicles in JAMSTEC. He has taken
charge of the development of Dolphin 3K, UROV7K, 11 000-m-depth-rated
ROV KAIKO, a working AUV MR-X1, and a 3000-m-depth-rated AUV
URASHIMA.
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