UKF Applied for Position Estimation of Underwater-Beacon Precision

  • Ba-Da Yoon
  • Ha-Nul Yoon
  • Sung-He Choi
  • Jang-Myung Lee
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


A location estimation algorithm based on underwater beacon was proposed in this paper. Location estimation of beacon is prerequisite to the underwater localization and communication. Unscented Kalman Filter is verified through MATLAB simulations and experiments in real-time environments. And performance of Unscented Kalman Filter was evaluated through underwater-BEACON. In This experiments, MCU of Underwater-BEACON was used DSP(TMS320F28335). INS(Gyroscope Sensor, Accelerometer Sensor, Magnetic Compass) and GPS was Used for the location estimation of underwater BEACON. UKF combined GPS signals and INS signals to design Underwater vehicle’s nonlinearity and non-normal distribution. Underwater-BEACON applies UKF. It can see that fewer errors were occurring.


underwater Vehicles Unscented Kalman Filter Underwater Hovering System 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Ba-Da Yoon
    • 1
  • Ha-Nul Yoon
    • 2
  • Sung-He Choi
    • 2
  • Jang-Myung Lee
    • 2
  1. 1.Dept. of Interdisciplinary Corporative Course RobotPusan National UniversityPusanRepublic of Korea
  2. 2.Dept. of Electrical EngineeringPusan National UniversityPusanRepublic of Korea

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