6,000m급 과학탐사용 심해무인잠수정 ‘해미래'와 ‘해누비'의 시스템 설계 및 개발

Abstract

KORDI–MOERI (Korea Ocean Research & Development Institute – Maritime & Ocean Engineering Research Institute) has designed an unmanned underwater vehicle (UUV), which will be developed by the end of 2006. The UUV aims for scientific researches and its maximum operating depth is 6,000 meters. The UUV system consists of two vehicles, a Remotely Operated Vehicle (ROV) ‘HEMIRE’ and an Underwater Launcher ‘HENUVY,’ which include oceanographic instruments, manipulators, tool sled, and so on. This paper briefly describes the specification of HENUVY and HEMIRE, and presents the design process of the vehicles in terms of mechanical and electric system design. This paper introduces the operational concept of the vehicles and remote control systems for the vehicles and manipulators mounted on the ROV. In addition, this paper presents a hybrid underwater navigation system for precise positioning, guidance and control, where the navigation system is based on inertial sensors accompanying Doppler velocity log and USBL(Ultra Short BaseLine) acoustic positioning system, for the deep sea UUV.