선체청소로봇의 항법 보조를 위한 USBL 오차 특성에 관한 실험적 연구

Abstract

KRISO is under developing a navigation system for multiple hull cleaning robots (HCR) using a USBL-aided navigation system. The USBL position might be easily contaminated by outlier/blackout due to blocking or multi-path of acoustic signal caused by reflection, diffraction from the ship hull body, the sea bottom, and the sea surface in harbor and/or dock. This paper introduces the USBL-aided navigation system for multiple HCRs, and presents a configuration of the stern/bow set-up and its experimental precess to check the feasibility of the configuration. the system to demonstrate the configuration of multiple HCR navigation systems and the performance of simultaneous tracking. One USBL buoy with transceiver was located at 16 positions (3 x 5 array, and one reference position) away from the stern, and two USBL transponders mounted on HCR, RSU1 and RSU2, were installed at the starboard of the center of the ship. This paper presents the results of the experiment and discusses the strategies for outlier rejection.