Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

1. 서 론
 2. 수중 음원의 방향각 추정
  2.1 목표 신호 추출
  2.2 수중 음원의 방향각 추정
  2.3 수중 음향 신호 처리 구조
 3. 수중 음원의 방향각을 이용한 EKF SLAM알고리즘
  3.1 관성항법 정보 획득
  3.2 수중 음원의 방향각 정보 활용
 4. 실험 결과
 5. 결론 및 향후계획
 References

• 최진우(Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering) | Jinwoo Choi
• 이영준(Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering) | Yeongjun Lee
• 최현택(Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engineering) | Hyun-Taek Choi Corresponding Author