한국해양대학교

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센서 모델 기반 수중트랙로봇의 수중항법 시스템 연구

Title
센서 모델 기반 수중트랙로봇의 수중항법 시스템 연구
Author(s)
지대형
Keyword
Underwater navigation system 수중항법 시스템, Doppler velocity log 도플러 속도계, Dead reckoning 추측 항법, Inertial navigation system 관성항법시스템, Ultra short base line 초단기선 위치추적시스템
Publication Year
2020
Publisher
한국해양대학교 대학원
URI
http://repository.kmou.ac.kr/handle/2014.oak/12380
http://kmou.dcollection.net/common/orgView/200000283958
Abstract
In this study, an underwater navigation algorithm was developed to apply the underwater navigation system to the underwater track robot. Generally, underwater navigation uses a Doppler Velocity Log(DVL) to measure the velocity of underwater vehicles. However, undersea platforms, such as underwater track robots, cannot use DVL due to the distance limitations of sensor operation. As a result, Dead Reckoning(DR) navigation is inevitably used, and which results in severe errors in attitude and position values over long periods of platform operation. To overcome this problem, we developed an underwater navigation system composed of coupled Inertial Navigation System(INS) composed Ultra Short Base Line(USBL) and additional track information.
The INS sensors were modeled using the mathematical model of the accelerometer, the gyroscope, the magnetometer.
Before the experiment, computer simulations were performed to analyze the expected sensor values for specific track missions in unexpected situations. Based on this, we developed an underwater navigation algorithm for a prototype underwater track robot which we developed at the lab and confirmed the effectiveness of the navigation algorithm through experiments.
For the prototype underwater track robot, we developed the navigation system, the electric hardware, the control system, and the operating system. Finally, we applied the developed INS and the underwater navigation algorithm to the platform and verified a good performance through real sea experiments.
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해운항만물류학과 > Thesis
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200000283958.pdf Download

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