심해무인잠수정 위치추적장치(Posidonia 6000)의 동해 성능 시험

Abstract

Currently, KORDI is developing a 6,000m depth-rated UUV, which is composed of a launcher(Henuvi), an ROV(Hemire), and an AUV. For the positioning of each vehicle, an integrated navigation system has been investigated. An acoustic positioning system(APS) will be also used to increase the accuracy of the navigation system. Among the three kinds of APS the USBL type was chosen for an UUV's APS because of its easy management and the positioning of Henuvi in a towing mode. For this reason KORDI purchased iXsea-Oceano's \\\\'Posidonia 6000\\\\'. It uses MFSK(multiple frequency shift keying) signal which enhance the positioning accuracy due to its spread spectrum characteristics. \\\\'Posidonia\\\\' should be able to detect an underwater vehicle at 6,000m depth and the RMS of estimated positions should be less than 0.3% of the slant range. In order to verify this performance, an open sea test was performed in the Ease Sea. The results says that the performance does no meet the required accuracy and detectable maximum ranges mainly due to the low SNR. The measurement of radiated noise from the research vessel, Onnuri was also performed. It was found that the USBL acoustic array must be moved to bow direction to increase the SNR.