KAUV 전장 및 항법 시스템 개발

Abstract

A new light and compact Autonomous underwater vehicle(AUV) is developed. The AUV has three degree of freedom in motion, and its actuators are composed of the weight balance, thruster at the back and yawing actuator of the thruster. The AUV was designed very compact to handle with ease.

For underwater navigation, a navigation system was composed using the doppler velocity log(DVL), the inertial measurement unit (IMU), the depth sensor, and the global positioning system(GPS). Also, for the navigation system, an Extended Kalman filter algorithm was designed to estimate states and to remove the noises from sensors.