경작업 ROV URI-L의 실해역 성능시험 분석

Abstract

This paper describes the Sea trial performance analysis of Light-weight Work Class ROV URI-L for underwater construction. The performance of implemented underwater precision navigation system, dynamic positioning system, waypoint followingcontrol system and automatic mapping system is verified during sea trial. The underwater precise navigation system is implemented by using covariance intersection method. Navigation sensors are fused to realize a fast and accurate navigation system with high update rate.