Open AccessDepth sensor and DVL‐aided vertical channel damping loop design for underwater vehicles
Author(s) -
Choe Tok Son,
Ra Won Sang,
Park Jin Bae
Publication year - 2015
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2015.1296
Subject(s) - underwater , loop (graph theory) , kalman filter , channel (broadcasting) , control theory (sociology) , doppler effect , acoustics , computer science , geology , physics , telecommunications , mathematics , artificial intelligence , oceanography , control (management) , combinatorics , astronomy
A novel vertical channel damping loop design method that uses not only a depth sensor but also a Doppler velocity log (DVL) for underwater vehicles is proposed. In the proposed method, the loop gains are calculated by adopting the steady‐state Kalman filter gain with consideration of characteristics of the depth sensor and the DVL. The simulation results demonstrate that the proposed method achieves better performance than the conventional method.