심해무인잠수정 해미래를 활용한 동해 메탄하이드레이트 가스분출 영역 탐사

Abstract

This paper describes the exploration of methane hydrate area in East-sea by deep-sea ROV Hemire. The wide area around Hemire mound, named after ROV Hemire was surveyed with a side scan sonar entrained in the depressor, Henuvy. The mosaic image was constructed and used for Hypack online navigation display software. The area was explored in detail with a forward looking sonar, cameras. The precise sampling was performed by a space-based automatic manipulator control program. A multi-sensor fusion based navigation algorithm is developed for precise navigation information.