관성 센서의 신호 주기가 수중 항법에 미치는 영향

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.