합성 개구 소나 탑재 AUV의 운동보상과 항법에 관한 고찰

Abstract

In this paper, we designed a Displaced Phase Center Antenna Aided Integrated Navigation System (DPCA-AINS) based on an IMU for the navigation of an AUV equipped with synthetic aperture sonar. The DPCA-AINS uses the sway, surge, and yaw motion obtained from DPCA micronavigation as auxiliary signals for the INS. The inertial navigation system will be used as a basic navigation system for an AUV equipped with synthetic aperture sonar (SAS). On the other hand, we have simulated the degradation of SAS image quality due to AUV motion disturbance, and confirmed that the image improved by motion correction. From the results of a tank test with a SAS model having receiver array, it was confirmed that the influence of multiple path was large. Further experiments are planned by seeking conditions to minimize the impact of reflected waves in the future.