수중 구조물 검사를 위한 ROV의 자세추정 방법

Abstract

This paper presents a method for attitude estimation of a remotely operated vehicle (ROV) which is used for inspection of underwater construction. The ROV uses AHRS for attitude esetimation. The magnetic field measurement from an AHRS which is used for yaw estimation is vulnerable to disturbances from internal and external sources. The proposes method improves yaw estimation by using GNSS course over ground (COG) measurement instead of the magnetic field measurement. The method is tested through simulation and experiment of inspecting pier of a port.