로봇학회논문지 제15권 제1호(통권 제55호) (p.24-31)

지구 물리정보를 이용한 무인잠수정의 복합 항법 기술

Geophysical Navigation for UUV without External Telemetry Systems
키워드 :
Underwater Navigation,Geophysical Navigation

목차

Abstract
1. 서 론
2. 수중 항법
   2.1 관성 항법
   2.2 지형 참조 항법
   2.3 지자기 대조 항법
   2.4 중력장 대조 항법
   2.5 복합 항법
3. 수치적 검증
   3.1 가상 환경 생성
   3.2 상태 변수 모델
   3.3 계측 모델
   3.4 시뮬레이션
4. 결 론
References

초록

Alternative navigation in underwater environments is essential to prevent accumulating drift error of dead reckoning. In case of using an external positioning system, the installation and management process of the transmission station is cumbersome, and the operation range of underwater vehicle is limited. In order to solve this problem, navigation using geophysical information such as terrain, geomagnetic field and gravity can be used. Unlike the terrain, geomagnetic field and gravity are composed of 3-D information, so continuation process is required. In this paper, we present a integrated navigation algorithm using multiple geophysical information for long-term operation of UUV. The proposed algorithm is verified through numerical simulation in an artificially generated environments. As a result, integrated navigation showed higher navigation accuracy than single alternative navigation.