심해저 집광기의 항법을 위한 센서 필터 설계

Abstract

The Deep-sea miner is the tracked vehicle system which drives on the deep-seabed and gathers a manganese nodules. This system navigate a seabed with surface vessel and lifting system consist of flexible pipe, buffer, lifting pump and lifting pipeline. For the propose of navigation, this system needs many sensors and some algorithm about sensor measurement and data processing. Especially, Hydroacoustic sensor and inertia sensors provides important data for navigation. Sensors has a some noise in real-world because of uncertainty and disturbance of environments. So sensor filter are designed and applied in these system. In this paper, we present necessity of navigation sensor and sensor filter for navigation. And technique of sensor fusion using Kalman filter is introduced.