근해역 시험집광기 항법 알고리즘 개발을 위한 기초 연구

Abstract

MOERI/KRISO structured inshore-test mining system which is composed of barge(surface vessel), lifting system and miner system. At 5km site from hupo-port of East-Sea of South KOREA, the inshore-test is performed during a month of June. 2009. The main aim of this test is to verify the possibility which the developed mining system is able to collect and lift the manganese nodule on sea-floor. And through analyzing gathering in-situ data, the improvement and adding points are to be grasped. In this paper, as basic study to develop navigation algorithm, the position determination approach of test miner is considered using the test data of 18, June, 2009. The approach is based on Extended Kalmain Filter(EKF) using the kinematics of tracked vehicle.