침몰선박 정밀 조사 작업을 위한 수중 위치추적시스템의 설치 및 활용

Abstract

An acoustic positioning system (APS) was introduced to MOERI/KORDI as a part of the unmanned oil recovery system developed for the prevention of oil spill from a sunken ship. It supports both the ultra short baseline (USBL) and the long baseline (LBL) modes for positioning underwater vehicles so that it can provide versatile performance to various on-site situations. After a week-long sea trial in the East sea last year, it was put in practical use for the on-site surveys of sunken ships near Ulsan and Pohang this year and successfully supported the whole activities of the underwater vehicles of the unmanned oil recovery system. This paper presents some techniques used for installing the APS and gives the positioning results obtained during the on-site survey of the sunken ships. Analysis of the positioning data shows that the underwater vehicles were tracked with 0.7 m rms error horizontally and 0.3 m rms error in depth using USBL without initial calibration.