Reduced-Order Underwater Vehicle Dynamics Model Determination Considering Navigation Performance

作     者：Kim, Jin-Kwan Whang, Ick-Ho Ra, Won-Sang Park, Seung-Hyo 

作者机构：School of Mechanical and Control Engineering Handong Global University Korea Republic of Department of Mechanical and Control Engineering Handong Global University Korea Republic of Naval Combat Systems PMO Marine Technology Research Institution Agency for Defense Development Korea Republic of 

出 版 物：《Transactions of the Korean Institute of Electrical Engineers》 (Trans. Korean Inst. Electr. Eng.)

年 卷 期：2024年第73卷第6期

页      面：1012-1022页

核心收录：

主　　题：Transfer functions 

摘      要：This paper proposes a novel approach to VDM(vehicle dynamics model) determination problem for model-aided navigation of an AUV(autonomous underwater vehicle) when the DVL(doppler velocity log) is unavailable. The conventional algorithms have been developed based on the well-known GHM(Gertler-Hagen hydrodynamics model). Unfortunately, the GHM is generally high-ordered so that it is hard to design GHM based applications working stable in actual situations with high uncertainties. To improve this problem, idea to use the transfer function for ground-heading control loop instead of GHM was proposed but it is still high-ordered to retain the stability problems. In this paper, we suggest a revolutionary reduced order VDM for AUV model-aided navigation. The order of our model is drastically reduced enough to show stable and consistent performances in real applications, while the errors due to the model reduction are mitigated under the newly introduced concept of zero model-output error integral to produce small dead-reckoning navigation errors. Simulation results show that our method demonstrates critically improved performances, compared to conventional EKF(extended Kalman filter) methods using the closed-loop heading control transfer function, in stability and consistency. Copyright © The Korean Institute of Electrical Engineers.