심해무인잠수정 해미래 초음파위치 추적장치의 실해역 성능 시험

Abstract

Currently, KORDI is developing a 6,000m depth-rated UUV, which is composed of a launcher HENUVY, an ROV HEMIRE, and an AUV. For the positioning of each vehicle, an integrated navigation system has been investigated. An APS (acoustic positioning system) will be also used to provide initial positions of the vehicles to the navigation system. Among the three kinds of APS the USBL (Ultra Short Base Line) was chosen for an UUV's APS because of its relatively easy management. iXsea-Oceano's Posidonia 6000 uses MFSK (multiple frequency shift keying) which enhances the positioning accuracy due to its spread spectrum characteristics. Posidonia is able to detect an underwater vehicle up to 6,000m depth. The RMS of estimated positions is less than 0.3% of the slant range. In order to verify this performance, two times of open-sea test was performed in the Ease Sea. From the first sea trial, the performance didn't meet the required accuracy and detectable maximum ranges mainly due to low SNR. In the second sea trial, the SNR was enhanced and the required performance criteria was achieved by rearranging the sensor position to a more quiet position.