관성 센서의 신호 주기가 수중 항법에 미치는 영향

Title
관성 센서의 신호 주기가 수중 항법에 미치는 영향
Alternative Title
Effect of Inertial Sensor Signal Rate on Underwater Navigation
Author(s)
원성규; 신창주; 권오순; 서정민; 강현
KIOST Author(s)
Kwon, O Soon(권오순)Seo, Jung Min(서정민)Kang, Hyoun(강현)
Alternative Author(s)
원성규; 신창주; 권오순; 서정민; 강현
Publication Year
2017-11-30
Abstract
A track type underwater construction robot is developing by Korea Institute of Ocean Science & Technology (KIOST). This robot moves very slowly on seabed and is exposed intensive noise and vibration during HPU(high power unit) works. Slow movement contaminates precise positioning as to the scattering effect. And the quality of underwater navigation sensors may be influenced by various disturbances such as noise and vibration etc. Under some conditions, lower sensor signal update rate can lead similar effect as low pass filter. If we can find optimal sensor update rate, then better underwater navigation can be expected. To verify the effect a land-based experiment is conducted using Inertial Navigation System/Global Positioning System (INS/GPS). In this paper, we compared the navigation results according to the signal update rate.ovement contaminates precise positioning as to the scattering effect. And the quality of underwater navigation sensors may be influenced by various disturbances such as noise and vibration etc. Under some conditions, lower sensor signal update rate can lead similar effect as low pass filter. If we can find optimal sensor update rate, then better underwater navigation can be expected. To verify the effect a land-based experiment is conducted using Inertial Navigation System/Global Positioning System (INS/GPS). In this paper, we compared the navigation results according to the signal update rate.
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/23536
Bibliographic Citation
한국수중수상로봇기술연구회 추계학술대회, pp.1 - 4, 2017
Publisher
한국수중수상로봇기술연구회
Type
Conference
Language
Korean
Publisher
한국수중수상로봇기술연구회
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