ROV URI-L의 수중정밀항법 구현 및 실해역성능시험

Abstract

This study describes the introduction of ROV URI-L and the implementation of an underwater precise navigation system that is essential for underwater construction, autopilot control, dynamic positioning control, waypoint following control and precision mapping. In this study, to develop a online precise underwater navigation system which is the key technology in the operation of underwater robot, USBL, DVL and FOG sensor data are fused by using covariance intersection methodto realize a fast and accurate navigation system with high update rate.