Development and Evaluation of Enhanced Navigation Filters for Underwater Glider
In this research, we introduce advanced navigation filters designed for underwater gliders, which play a crucial role in collecting oceanic data such as temperature and salinity. Due to their reliance on low-cost, low-precision MEMS (Microelectromechanical Systems)-based IMUs (Inertial Measurement U...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10872939/ |
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| author | Tae Suk Yoo San Hee Kang Junghan Lee Daehyeong Ji Moon Hwan Kim |
| author_facet | Tae Suk Yoo San Hee Kang Junghan Lee Daehyeong Ji Moon Hwan Kim |
| author_sort | Tae Suk Yoo |
| collection | DOAJ |
| description | In this research, we introduce advanced navigation filters designed for underwater gliders, which play a crucial role in collecting oceanic data such as temperature and salinity. Due to their reliance on low-cost, low-precision MEMS (Microelectromechanical Systems)-based IMUs (Inertial Measurement Units) and unique operational constraints, these gliders experience significant navigational inaccuracies. To address this, we proposed two filters, each optimized for minimal sensor use: the first integrates an accelerometer, magnetometer, and depth gauge, and the second adds a gyroscope. These filters estimate the glider’s velocity and position by converting sensor data into the navigation coordinate system. We not only conducted rigorous evaluations of our proposed filters through comprehensive simulations and Monte Carlo numerical analyses, but also fabricated an actual glider to apply these filters in real sea trials. The results of these sea trials were consistent with our simulation predictions, confirming the effectiveness of our navigation filters in practical scenarios. |
| format | Article |
| id | doaj-art-7c60a5fe3b0948a1871d46495c8a039a |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-7c60a5fe3b0948a1871d46495c8a039a2025-08-20T02:03:34ZengIEEEIEEE Access2169-35362025-01-0113335713357810.1109/ACCESS.2025.353924710872939Development and Evaluation of Enhanced Navigation Filters for Underwater GliderTae Suk Yoo0San Hee Kang1Junghan Lee2https://orcid.org/0000-0002-1974-8807Daehyeong Ji3https://orcid.org/0000-0001-8235-0407Moon Hwan Kim4https://orcid.org/0000-0002-1504-5258LIG Nex1, Seongnam, South KoreaLIG Nex1, Seongnam, South KoreaLIG Nex1, Seongnam, South KoreaMarine Security and Safety Research Center, KIOST, Busan, South KoreaDepartment of Electrical and Electronic Engineering, Yonsei University, Seoul, South KoreaIn this research, we introduce advanced navigation filters designed for underwater gliders, which play a crucial role in collecting oceanic data such as temperature and salinity. Due to their reliance on low-cost, low-precision MEMS (Microelectromechanical Systems)-based IMUs (Inertial Measurement Units) and unique operational constraints, these gliders experience significant navigational inaccuracies. To address this, we proposed two filters, each optimized for minimal sensor use: the first integrates an accelerometer, magnetometer, and depth gauge, and the second adds a gyroscope. These filters estimate the glider’s velocity and position by converting sensor data into the navigation coordinate system. We not only conducted rigorous evaluations of our proposed filters through comprehensive simulations and Monte Carlo numerical analyses, but also fabricated an actual glider to apply these filters in real sea trials. The results of these sea trials were consistent with our simulation predictions, confirming the effectiveness of our navigation filters in practical scenarios.https://ieeexplore.ieee.org/document/10872939/Underwater glidervelocity estimationnavigation filterextended kalman filter |
| spellingShingle | Tae Suk Yoo San Hee Kang Junghan Lee Daehyeong Ji Moon Hwan Kim Development and Evaluation of Enhanced Navigation Filters for Underwater Glider IEEE Access Underwater glider velocity estimation navigation filter extended kalman filter |
| title | Development and Evaluation of Enhanced Navigation Filters for Underwater Glider |
| title_full | Development and Evaluation of Enhanced Navigation Filters for Underwater Glider |
| title_fullStr | Development and Evaluation of Enhanced Navigation Filters for Underwater Glider |
| title_full_unstemmed | Development and Evaluation of Enhanced Navigation Filters for Underwater Glider |
| title_short | Development and Evaluation of Enhanced Navigation Filters for Underwater Glider |
| title_sort | development and evaluation of enhanced navigation filters for underwater glider |
| topic | Underwater glider velocity estimation navigation filter extended kalman filter |
| url | https://ieeexplore.ieee.org/document/10872939/ |
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