심해 무인잠수정 해미래의 센서 시스템 운용

Abstract

This paper describes the characteristics and the operation techniques of entrained sensor systems for the deep-sea unmanned underwater vehicles (UUV), composed of two vehicles, a remotely operated vehicle (ROV) ‘Hemire’ and a depressor ‘Henuvy'. This paper especially focuss on the navigation sensors for the seven degree of freedom motions (depth, altitude, latitude, longitude, roll, pitch and yaw). The post-processing algorithms are suggested for dealing with experimentally measured data from sea trials such as an outlier rejection algorithm, a multiple sensor fusion algorithm and an experimental conversion formula. The performance of the developed algorithms are verified by applying the algorithm to measured data. Further works are suggested to implement the multiple sensor fusion based navigation system and to enhance the reliability of sensor systems for UUVs.