DVL을 이용한 수중 로봇의 위치 추정을 위한 실험적 연구

Abstract

A popular navigation system of an unmanned underwater robot would be a DVL(Doppler Velocity log) based navigation system. It is effective in term of less drift error and less dependence on expensive IMU(inertia measurement unit) in an inertia navigation. Relationships between coordinate frames of sensors and robot can be calculated mathematically. However, real data getting from transformations are somewhat different from the theory mainly because of inaccurate sensor measurements and noise. Therefore, we need to find characteristics of sensors installed on the robot and experimental data before developing any algorithms. This paper shows some experimental results of very important sensors of an underwater robot to see practical data sets using simple, but effective experiment test-bed including DVL and AHRS. This results are going to be applied to development of accurate control & navigation system for an underwater robot, yShark.nertia navigation. Relationships between coordinate frames of sensors and robot can be calculated mathematically. However, real data getting from transformations are somewhat different from the theory mainly because of inaccurate sensor measurements and noise. Therefore, we need to find characteristics of sensors installed on the robot and experimental data before developing any algorithms. This paper shows some experimental results of very important sensors of an underwater robot to see practical data sets using simple, but effective experiment test-bed including DVL and AHRS. This results are going to be applied to development of accurate control & navigation system for an underwater robot, yShark.