네개의 배열센서로 이루어진 십자형 협대역 항법시스템의 민감도 해석

Abstract

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. An accurate navigation system is needed for the AUV to perform various underwater missions with high operational efficiency. Because AUV has to dock successfully to the docking window at the launcher after AUV's missions and this fact needs high navigation accuracy especially around the docking window, we decided to use a super-short baseline(SSBL) system for AUV's terminal guidance to the dock. Although the more sensors there are the higher position accuracy they give, it is impractical to use many sensors for the small and low-power AUV. Therefore, this paper studies an SSBL navigation system with a cross array of four sensors, and conducts the analysis of estimation sensitivity to evaluate estimation error. The results show that the error is proportional to the parameter (c / f) and has larger value in the area of low elevation angle. A new array configuration of tetrahedron type is also suggested for better performance in the viewing angle of the SSBL.