심해무인잠수정 해미래의 다중센서 융합을 기반으로한 수중항법시스템

Abstract

This paper presents the underwater navigation algorithm based on a multiple sensor fusion for the deep-sea unmanned underwater vehicles (UUV), composed of two vehicles, a remotely operated vehicle (ROV) ‘Hemire’ and a depressor ‘Henuvy’. The performance of underwater positioning system usually highly depend on that of acoustic sensors such as ultra short base line(USBL), long base line(LBL) and altimeter. A sensor fusion based outlier rejection algorithm is suggested to reject the spurious acoustic position measurement. The benefits of algorithm illustrated using the sea trial data which were conducted at the East Sea.