심해무인잠수정 해미래의 초음파 위치 추적 시스템의 특성분석

Abstract

Currently, MOERI, KORDI is developing a 6,000m depth-rated UUV, which is composed of a launcher HENUVY, an ROV HEMIRE, and an AUV. For the underwater positioning of vehicles, an integrated navigation system has been investigated. An acoustic positioning system (APS) will be used to provide stepwise positions of the vehicles to the continuous navigation system. Among the three kinds of APS, the USBL (Ultra Short Base Line) was chosen for the UUV's APS because of its relatively easy management. iXsea-Oceano's Posidonia 6000 uses MFSK (multiple frequency shift keying) which enhance the positioning accuracy by its spread spectrum. Posidonia detects an underwater vehicle up to 6,000m depth. The RMS of estimated positions is less than 0.3% of the slant range. In order to verify this performance, two times of open-sea test were performed in the East Sea. From the first sea trial, the performance doesn't meet the required accuracy and detectable maximum ranges mainly due to low signal to noise ration (SNR). In the second sea trial, the SNR is enhanced and the required performance criteria are achieved by rearranging the sensor position to a more quiet position.