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22대 대한민국 국회 국회정보길라잡이 국회의원검색
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초록보기

USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

권호기사

권호기사 목록 테이블로 기사명, 저자명, 페이지, 원문, 기사목차 순으로 되어있습니다.
기사명 저자명 페이지 원문 목차
Development of strength evaluation methodology for independent IMO TYPE C tank with LH2 carriers Beom-Il Kim, Kyoung-Tae Kim, MD Shafiqul Islam p. 87-102

Quality enhancement of MIROS wave radar data at Ieodo Ocean Research Station using ANN Donghyun Park, Kideok Do, Miyoung Yun, Jin-Yong Jeong p. 103-114

Voronoi diagram-based USBL outlier rejection for AUV localization Hyeonmin Sim, Hangil Joe p. 115-123

Collision-damage analysis of a floating offshore wind turbine considering ship-collision risk Young-Jae Yu, Sang-Hyun Park, Sang-Rai Cho p. 124-136

Riser configuration design for a 15-MW floating offshore wind turbine integrated with a green hydrogen facility Sung-Jae Kim, Sung-Ju Park p. 137-147

참고문헌 (12건) : 자료제공( 네이버학술정보 )

참고문헌 목록에 대한 테이블로 번호, 참고문헌, 국회도서관 소장유무로 구성되어 있습니다.
번호 참고문헌 국회도서관 소장유무
1 Development of hovering type AUV “Cyclops” and its performance evaluation using image mosaicing 미소장
2 Guidance and control of a reconfigurable unmanned underwater vehicle 미소장
3 Voronoi diagrams and arrangements 미소장
4 A self-aligning underwater navigation system based on fusion of multiple sensors including DVL and IMU 미소장
5 Minimum covariance determinant 미소장
6 Towards Geo-Referenced AUV Navigation Through Fusion of USBL and DVL Measurements 미소장
7 Federated filter for fault-tolerant integrated navigation systems 미소장
8 Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements 미소장
9 Robust data cleaning methodology using online support vector regression for ultra-short baseline positioning system 미소장
10 Sensor fusion of two sonar devices for underwater 3D mapping with an AUV 미소장
11 Robust Outliers Detection and Classification for USBL Underwater Positioning Systems 미소장
12 Underwater Navigation of AUVs Using Uncorrelated Measurement Error Model of USBL 미소장

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