플랫폼 이동 속도 계측을 위한 위상 배열 센서의 빔형성 성능 분석

Abstract

In order to measure platform movement speed, the DVL (Doppler Velocity Log) is widely used not only for surface ships but also, especially, for submerged platforms such as AUVs (Autonomous Underwater Vehicles) and ROVs (Remotely Operated Vehicles). Typically, a DVL measures ground speed by utilizing the Doppler effect of acoustic waves reflected from the seabed, but it can also measure water-relative speed by using waves scattered by particles in the water column. A traditional DVL has a Janus configuration to transmit and receive acoustic waves in four directions, but recently, DVLs using planar phased-array sensors, which experience less resistance from water flow, have also been used. This paper aims to analyze the beamforming performance of a DVL using a planar phased-array sensor based on its array structure and parameters.