선체 부착생물 제거용 수중로봇의 초음파 측위 시스템 기본 설계

Abstract

A hull cleaning robot(HCR) is widely used to remove hull attached organisms. Accurate underwater position estimation is very crucial for the precise operation of the HCR. In this paper conceptual design results of the acoustic positioning system are explained. Based on user requirements operational concept is established and system components and their characteristics are described. The acoustic positioning system is designed using USBL transceivers and transponders. Monte-Carlo simulation of range estimation error is performed based on measured radiation noise from a HCR. From the simulation results major system parameters such as operating frequency range are selected.