수중 음향 모뎀을 이용한 역초단기선 기반의 수중 위치 추정 기술 개발에 대한 기초 연구

Abstract

Accurate localization in underwater environment is an essential capability for development of autonomous underwater vehicles. For this purpose, this paper presents development of underwater localization method using underwater acoustic modem. A pair of acoustic modems are used to perform underwater localization. A custom modem which involves additional hydrophones are used to localize acoustic source. A typical modem is used as the acoustic source. The proposed underwater localization system is implemented as inverted-USBL configuration. An autonomous underwater vehicle is equipped with the custom modem and the typical modem (source modem) is installed at a fixed location in the operating environment. The acquired relative geometric information of the source modem is used as measurement in SLAM framework so that the vehicle can perform self-localization without any prior information of the source modem.