6천m급 원격조종 무인잠수정 해미래의 항법 및 제어

Abstract

This presentation briefly introduces a 6,000m depth-rated Remotely Operated Vehicle Hemire, focusing on (1) the specification and features of Hemire, (2) Equipment arrangement, launch and recovery process with portable deck gears, manufacturing of the vehicle, cable design and specification of the 1st cable and the 2nd umbilical in the mechanical system, (3) Electric system, communication and control system, surface remote control unit (RCU) in electrical system, (4) Operating software based on Linux and its architecture, and (5) New research vessel Iasabu interfaced with Hemire in mechanical and electrical system, and operation test in the East sea and harbor test. This presentation presents an integrated navigation system based on a simple kinematic model and the Kalman filter. The navigation systwm is robust and reliable under abnormal measurement, such as outlier and blackout, of USBL and DVL as well as initial position errors. An outlier detection algorithm is proposed, which is variable depending on the difference between the estimation and the measurement, and on the error covariance of X and Y positions in the Kalman filter.