무인잠수정의 해류 중 경로 생성과 항법시스템 설계

Abstract

This paper describes path generation and navigation system design methodology under ocean currents using multiple sensors fusion. By adopting a natural cubic spline curve generation scheme, smooth path planning can be conducted considering major ocean current direction in heuristic manner. A multiple sensors based precise navigation scheme enables underwater vehicles to be controlled with qualified navigation information such as update rate, accuracy, precision.