심해용 무인잠수정 해비래의 고도정보 추정을 위한 다중센서융합 알고리즘

Abstract

This paper represents the multiple sensor fusion algorithm for the deep-sea unmanned underwater vehicles (UUV), composed of two vehicles, a remotely operated vehicle (ROV) 'Hemire' and a depressor 'Henuvy'. The performance of underwater positioning system usually highly depend on that of acoustic sensorssuch as ultra short base line(USBL), long base line(LBL) and altimeter. A practical sensor fusion algorithm is derived with the sense of a moving window sense. The benefits of this algorithm illustrated using the sea trial data which was conducted at the Ease Sea