실해역 임무를 위한 자율무인잠수정 ISiMI100의 설계와 구현

Abstract

This paper presents a design concept and manufacture of Autonomous underwater vehicle(AUV), ISiMI100. Recently, AUVs have become main tool to survey undersea in scientific, military, and commercial applications because of the significant improvement of performance and low working costs. Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, is developing the small AUV that is designed and manufatured to be handled by one or two persons and to survey undersea up to 100m. ISiMI100 equipes 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. This paper describes the hardware system and operating program of ISiMI100.