수중 음향 신호와 지형 정보를 이용한 위치 추정 기술 개발

Abstract

This paper presents a method of underwater localization for long-range navigation of unmaned underwater vehicles. Two kinds of underwater localization which uses underwater acoustic sources and bathymetry data are developed. Both methodsare implemented in an autonomous surface vehicle and validated localization performance comparing to onboard GPS data of the vehicle.