한국해양대학교

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중계 임무 수행이 가능한 무인수상선(USV) 연구

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dc.contributor.author 이상섭 -
dc.date.accessioned 2017-02-22T07:00:49Z -
dc.date.available 2017-02-22T07:00:49Z -
dc.date.issued 2015 -
dc.date.submitted 57069-08-26 -
dc.identifier.uri http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002175829 ko_KR
dc.identifier.uri http://repository.kmou.ac.kr/handle/2014.oak/10144 -
dc.description.abstract Nowadays, USV (Unmanned Surface Vehicle) is gaining a lots of attention on marine research and surveying exploration in costal area. This paper presents an experimental study on USV performing a repeater for mission with AUV (Autonomous Underwater Vehicle) and ROV (Remotely Operated Vehicle). To operate USV and AUV safely, an accurate localization and navigation system are essential. This paper describes an implementation of an autonomous navigation system for a USV performing a repeater. To improve the performance of the propulsion and control USV was selected for the appropriate propulsion module, was equipped precise sensor system. Using a independent battery to avoid the influence of noise generated by the propulsion module and the driver. By applying a VHF communication module and tested at a distance of about 5km. And the performance was confirmed. This USV was applied multi-GPS algorithms to overcome the limitations of GPS errors. And it can control waypoint tracking and position fixing control algorithms using GPS-INS integration, which is designed with three fixed thrusters to flexibly orient and to maintain at a desired position. Moreover, a repeater mission for limits of AUV is developed and is presented and verified through a number of simulation and experiments. -
dc.description.tableofcontents 1. 서 론 1.1 개요 1 1.2 연구범위 및 목적 5 2. USV의 기구부 구성 2.1 USV의 선체 설계 9 2.2 추진기 선정 및 배치 10 2.2.1 추진기 용량 선정 10 2.3 USV의 동역학 15 3. USV의 제어 및 항법시스템 구성 3.1 제어시스템 구성 19 3.1.1 Sensor Box 19 3.1.2 Control Box 23 3.1.3 Battery Box 28 3.2 신호처리, 통신 및 전원 구성 30 3.3 복합 GPS 시스템 32 3.3.1 GPS 경위도를 우리나라 경위도로 바꾸는 방법 34 3.3.2 3개의 GPS를 이용한 보정 알고리즘 43 3.4 Control Interface의 연구 44 4. USV의 항법시스템 연구 4.1 경로 추적 제어(Way-point Tracking Control) 47 4.2 위치 고정 제어(Position Fixing Control) 52 5. USV의 중계 장치 연구 및 성능 시험 5.1 다중 통신시스템 시험 56 5.2 수중 로봇 간 중계 임무를 위한 USBL 시험 58 6. 결론 참고문헌 65 -
dc.language kor -
dc.publisher 한국해양대학교 -
dc.title 중계 임무 수행이 가능한 무인수상선(USV) 연구 -
dc.type Thesis -
dc.date.awarded 2015-02 -
dc.contributor.alternativeName Lee -
dc.contributor.alternativeName Sang Seob -
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기계공학과 > Thesis
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