선단 AUV의 운용을 위한 수조환경에서의 수중통신모뎀 성능시험

Abstract

Acoustic modems enable for an AUV to communicate with a mother ship(or ground command station) or other AUVs. They can be applied to formation control of fleet AUV or wireless underwater networks. This paper presents the test results of an acoustic modem communication in the Ocean Engineering Basin of MOERI. the acoustic modem uses a broadband spread spectrum for underwater communication. The performance tests were carried out by varying horizontal locations and depths of the subsea unit and the surface unit of the modem respectively. In addition the communication modes are changed for the performance comparison; one is a handshaking mode and the other one is a non-handshaking mode. In the handshaking mode, the modem includes the handshaking processes which increase the system reliability but reduce the bit error rate. This method will be useful when lots of data is transferred. In the non-handshaking mode, the modem protocol excluding the handshaking process reduces the connection time but decreases the data reliability. This paper presents the experimental results both modes, and distances the operational sequence of communication for fleet AUVs in the basin test.