음향측위 신호를 보조로 이용하는 선체청소로봇의 수중항법시스템

Abstract

It is necessary to remove biofouling on ship hull not only to prevent deterioration of energy efficiency of operating ships, but also to prevent invasive aquatic species. Underwater navigation is one of the core technologies of hull cleaning robots (HCR), and it is essential for the intelligence and autonomy of the HCR. In this paper, we proposed and designed an underwater navigation system for multiple HCRs using USBL acoustic positioning as an auxiliary sensor. Two USBL transceivers are respectively placed in the bow and stern to measure four HCRs’ position. The position measurement distortion of USBL caused by diffraction waves and the effect of reflection waves between the dock wall (or seabed) and docked ship. This paper has also proposed methods for correcting diffraction errors, judging and rejecting outliers.