이심이100 AUV 시스템 개발과 실험결과의 고찰

Abstract

This paper presents a system development and experimental analysis of autonomous underwater vehicle, ISiMI100. Recently, the AUVs have carried out several observations with high frequency side scan sonar(SSS) and multi beam sonar(MBS) near the deep sea bottom. Also the AUVs implement monitoring in shallow water environments, source water, temperature, dissolved oxygen. In order to guarantee the accuracy of the observations, the AUV has to be equipped with an underwater navigation with appropriate accuracy. Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has developed an sea-trial AUV designed and manufactured to survey undersea up to 100m. The ISiMI100 is equipped with doppler velocity logger(DVL), attitude heading reference system(AHRS), Pin point LBL, and obstacle avoidance sonar(OAS) for undersea navigation, acoustic transmmit modem(ATM) for undersea communication. To verify functions of ISiMI100 AUV, we conducted a various free running tests. This paper describes the hardware system and experimental test results of ISiMI100.