naa a22 4500 510822940 CHVBK 20180411083542.0 cr unu---uuuuu 180411e20131201xx s 000 0 eng 10.1007/s12541-013-0280-y doi (NATIONALLICENCE)springer-10.1007/s12541-013-0280-y A two-stage initial alignment technique for underwater vehicles dropped from a mother ship [Elektronische Daten] [Hyeonjin Cho, Man Lee, Dong Ryu, Kil Lee, Seok Lee, Hee-Chang Lee, Hyung Park, Jong-Seob Won] In this paper, a two-stage initial alignment scheme is proposed to enhance the operational performance of underwater vehicles with a strapdown inertial navigation system (SDINS) that are widely used for attitude control of underwater and/or aerial movement. For underwater vehicles dropped from and operated with an off-line connection to a mother ship, the application of conventional initial alignment methods is insufficient to achieve a satisfactory attitude control partly due to oscillations in the loading section and/or operating conditions in the mother ship. The proposed technique based on a coarse alignment algorithm is composed of two stages: In the first stage, an alignment on board a ship is performed to set initial values of an underwater vehicle for navigation and control. The second stage, which is performed under the sea, includes a process to correct the initial alignment errors resulting from the first stage alignment. The evaluation study has been conducted for the proposed approach through computer simulation, hardware-in-theloop simulation (HILS), and sea trials. Evaluation results are presented and discussed. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Underwater vehicle control nationallicence Strapdown inertial navigation system (SDINS) nationallicence Initial alignment nationallicence Cho Hyeonjin Department of Mechanical and Intelligent Systems Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut Lee Man School of Mechanical Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut Ryu Dong Defense Agency for Technology and Quality, 130-871, Seoul, Korea aut Lee Kil Global Core Research Center for Ships and Offshore Plants, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut Lee Seok School of Mechanical Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut Lee Hee-Chang Department of Mechatronics Engineering, Tongmyong University, 428, Sinseonno, Nam-gu, 608-711, Busan, Korea aut Park Hyung School of Mechanical Engineering, University of Ulsan, 93, Daehak-ro, Nam-gu, 680-749, Ulsan, Korea aut Won Jong-Seob Department of Mechanical and Automotive Engineering, Jeonju University, 1200, 3-ga, Hyoja-dong, 560-759, Jeonju, Korea aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/12(2013-12-01), 2067-2073 2234-7593 14:12<2067 2013 14 12541 https://doi.org/10.1007/s12541-013-0280-y text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0280-y text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Cho Hyeonjin Department of Mechanical and Intelligent Systems Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut NATIONALLICENCE 700 1- Lee Man School of Mechanical Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut NATIONALLICENCE 700 1- Ryu Dong Defense Agency for Technology and Quality, 130-871, Seoul, Korea aut NATIONALLICENCE 700 1- Lee Kil Global Core Research Center for Ships and Offshore Plants, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut NATIONALLICENCE 700 1- Lee Seok School of Mechanical Engineering, Graduate School, Pusan National University, 30, San, Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea aut NATIONALLICENCE 700 1- Lee Hee-Chang Department of Mechatronics Engineering, Tongmyong University, 428, Sinseonno, Nam-gu, 608-711, Busan, Korea aut NATIONALLICENCE 700 1- Park Hyung School of Mechanical Engineering, University of Ulsan, 93, Daehak-ro, Nam-gu, 680-749, Ulsan, Korea aut NATIONALLICENCE 700 1- Won Jong-Seob Department of Mechanical and Automotive Engineering, Jeonju University, 1200, 3-ga, Hyoja-dong, 560-759, Jeonju, Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/12(2013-12-01), 2067-2073 2234-7593 14:12<2067 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer