CPMC의 영상 추적 장치를 이용한 수중 운동체의 위치 추적

Abstract

A position tracking system is developed to track a underwater moving target in the Ocean Engineering Basin of Maritime and Ocean Engineering Research Institute(MOERI). The position tracking system is based on the image tracking system of Computer Planar Motion Carriage(CPMC), which has been developed for the tracking of surface ship. Generally, the tests of Autonomous Underwater Vehicles(AUVs) have to be conducted in the field. Some efforts have been made to conduct this kind of tests in the basin, because the field tests need much more time and cost than the basin tests. However, because many close sound reflecters exist in the basins, a new position sensing system is required instead of sonar system to conduct AUVs tests in the basin. This paper shows a X-Y position tracking system for underwater moving target. And a tank-test results are presented on this paper to examine the possibility of using the system in the control and navigation tests of AUVs. Also this paper shows an idea to track Z position using image processing.