수중경작업 ROV 운용을 위한 다중센서정보 융합을 통한 수중정밀항법프로그램 개발

Abstract

This paper introduces Light-weight Work Class ROV URI-L for underwater construction. And the design and implementation of an underwater precision navigation system that is essential for the underwater construction, autonomous navigation control, position maintenance control, path tracking control and precision mapping are described. In this study, to develop a underwater precise navigation system which is the key technology in the operation of underwater robot, USBL, DVL andFOG sensor data are fused to realize a fast and accurate navigation system with high update rate. The developed navigation algorithm was verified by a sea trial test.