극지 수중로봇의 자기 위치 추정을 위한 역방향 극초단기선 개념 설계

Abstract

Acoustic positioning is one of the major functions of an autonomous underwater vehicle(AUV) for underwater navigation. Not only measuring AUV’s position by an operator on the surface ship but also identifying its position by itself is an essential part for performing AUV’s missions. Acoustic positioning using an inverse ultra-short baseline(iUSBL) system is a good way to estimate its position and is widely used for AUV’s homing and docking. Recently KRISO conceptually designed an iUSBL system of an AUV for using in polar areas. End-user’s requirements as well as AUV developer’s are investigated and the target specifications are defined based on the investigation. In order to specify some parameters numerical simulations of root mean-square error estimation have been done. An iUSBL is designed with dual frequency operation and one-way-travel-time(OWTT) synchronization concept using a chip scale atomic clock(CSAC).