KR101656192B1 - a 3-D underwater location estimating method using electromagnetic waves - Google Patents

a 3-D underwater location estimating method using electromagnetic waves Download PDF

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KR101656192B1
KR101656192B1 KR1020150102897A KR20150102897A KR101656192B1 KR 101656192 B1 KR101656192 B1 KR 101656192B1 KR 1020150102897 A KR1020150102897 A KR 1020150102897A KR 20150102897 A KR20150102897 A KR 20150102897A KR 101656192 B1 KR101656192 B1 KR 101656192B1
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electromagnetic wave
antenna
dimensional
rti
attenuation
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KR1020150102897A
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Korean (ko)
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김진현
곽경민
정완균
박대길
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서울과학기술대학교 산학협력단
포항공과대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out

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  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Provided is a 3D underwater location estimating method using an electromagnetic wave comprising: (a) step of defining a movement parameter between a fixing node and a moving node of an omnidirectional antenna; (b) step of defining a signal attenuation factor according to an opposite position between the fixing node and the moving node, and a gesture; (c) step of modeling individual directivity in a vertical side (E-plane) of the omnidirectional antenna; (d) step of modeling a 3D electromagnetic wave radiation pattern of the omnidirectional antenna for a horizontal side (H-plane) and the vertical side (E-plane) by using the signal attenuation factor; and (e) step of estimating a location of an underwater object by using the 3D electromagnetic wave radiation pattern. The present invention easily estimates a location of a fast underwater robot by using an attenuation feature of the electromagnetic wave. The present invention is applied to an environment requiring precision control by using constant radiation pattern modeling according to a distance for the horizontal side and the vertical side. The present invention saves measurement costs instead of use of ultrasonic waves which are difficult to be used in a short distance. The present invention improves location estimation precision with a multipath effect.

Description

[0001] The present invention relates to a three-dimensional underwater location estimation method using an electromagnetic wave,

In particular, the present invention relates to a method for estimating an underwater position, and more particularly, to a method for estimating a distance and a plane position by arranging a transmitting node and a receiving node of an antenna and using a signal attenuation difference between both nodes, Dimensional underwater position estimation method using an electromagnetic wave that can estimate a three-dimensional underwater position of an underwater object.

In recent years, various efforts have been made to develop the marine environment as the need for marine resource utilization increases. Typically, UUV (Unmanned Underwater Vehicle) is utilized in environments where human access is impossible or risky. For example.

In addition, the use of track-type underwater robots to embed power and communication cables, and the use of underwater robots for mine removal and exploration are also increasing.

Recently, unmanned underwater robots have been installed at depths of 1,500 m in the oil spill accident in the Gulf of Mexico.

In order to perform tasks in underwater environment, the ability to grasp the relative or absolute position of the robot is required, and a number of underwater position estimation studies have been conducted to date.

The method of estimating the underwater position is the time (TOA: Time of arrival) of the reflected wave of ultrasound to the node installed on the topographic object or the ship, such as Doppler Velocity Log and Side-scan sonar. arrival), a method of detecting a mark by detecting a mark at a specific point using an optical sensor, a method of using distance estimation using an underwater signal attenuation of an electromagnetic wave, and the like .

Among them, the ultrasonic position estimation system using the Doppler velocimeter using ultrasound having good transmission performance in water is used to relatively estimate the position between the ship and the robot in a wide range.

However, the use of underwater ultrasonic waves causes a multipath effect in a region where an off-road environment or a complicated structure is installed, so that there is a problem that accuracy of estimation is poor or erroneous information is obtained.

In addition, there is a disadvantage that it can not be used in a near work using a manipulator or a work tool such as a structure construction requiring high precision.

As an alternative to this, research has been carried out on a technique that can estimate the underwater position in a structured environment or near by using signal attenuation of electromagnetic wave. Signal attenuation study according to distance and medium of electromagnetic wave in water, The results of two-dimensional position recognition have shown that it is possible to estimate the position of several centimeters in the experimental tank by using electromagnetic waves.

This means that an electromagnetic wave based position estimation system can be used in an environment where precise estimation is required at a close distance unlike a conventional position estimation system using ultrasonic waves.

However, the position estimation method using the electromagnetic wave attenuation so far has been performed only in a two-dimensional plane using an H-plane attenuation model of an omnidirectional antenna, and the E-plane characteristic required for three- The relative height difference between the antennas and the attenuation model according to the attitude has not been proposed.

1 is a view showing an attenuation plane of an omnidirectional antenna in a general spherical coordinate system.

As shown in FIG. 1, a spherical coordinator for analyzing the radiation characteristics of an omnidirectional antenna is a basic electromagnetic wave attenuating element (distance

Figure 112015070592474-pat00001
Figure 112015070592474-pat00002
), It is a coordinate system suitable for defining the distance of the electromagnetic wave and the attenuation factor by radiation.

However, the H-plane, which is a horizontal plane, has a characteristic close to a certain circle according to the distance, but there is a limit to a pattern that is not constant according to the distance with respect to the E-plane, which is a vertical plane.

In addition, since only an ideal directional value is used rather than considering a pattern loss according to the direction of the antenna, it is suitable for the use of an isotropic antenna, but there is a limitation in actually using other specific antennas.

KR 2004-0092508 A

The object of the present invention is to model the signal attenuation of the electromagnetic wave according to the relative position and attitude between the fixed node and the antenna located at the mobile node and to estimate the position of the underwater object by modeling the three- Dimensional underwater position estimation method using an electromagnetic wave that can be used to estimate a three-dimensional underwater position.

The problem to be solved by the present invention is not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by a person skilled in the art from the following description.

According to an aspect of the present invention, there is provided a method for estimating a three-dimensional underwater position using electromagnetic waves, comprising: (a) defining a motion parameter between a fixed node and a mobile node of an omni-directional antenna; (b) defining a signal attenuation factor according to the relative position and posture between the fixed node and the mobile node; (c) modeling the individual directivity in the E-plane region of the omnidirectional antenna; (d) modeling a three-dimensional electromagnetic wave radiation pattern of the omnidirectional antenna with respect to a horizontal plane (H-plane) and a vertical plane (E-plane) using the signal attenuation factor; And (e) estimating a position of an object in the water using the three-dimensional electromagnetic wave radiation pattern.

According to another aspect of the present invention, there is provided a method for estimating a three-dimensional underwater position using electromagnetic waves, comprising the steps of: (b-1)

Figure 112015070592474-pat00003
), Rotation angle (
Figure 112015070592474-pat00004
) And elevation angle
Figure 112015070592474-pat00005
Lt; RTI ID = 0.0 > 1, < / RTI > And (b-2) a roll angle with respect to polarization between the fixed node and the mobile node
Figure 112015070592474-pat00006
), The pitch angle to the slope (
Figure 112015070592474-pat00007
) And the yaw angle
Figure 112015070592474-pat00008
And a posture loss factor is defined through the posture loss factor.

According to another aspect of the present invention, there is provided a method for estimating a three-dimensional underwater position using electromagnetic waves, comprising the steps of: (b-1) deriving a signal attenuation function ; And an elevation angle between the direction of the electromagnetic wave and the horizontal plane,

Figure 112015070592474-pat00009
And calculating an elevation loss factor function according to the elevation loss factor function.

According to another aspect of the present invention, there is provided a method for estimating a three-dimensional underwater position using electromagnetic waves, comprising the steps of: (b-2) Roll Angle (

Figure 112015070592474-pat00010
) ≪ / RTI > is calculated; And a pitch rotation of the mobile node relative to the fixed node,
Figure 112015070592474-pat00011
And a step of calculating an inclination loss factor function according to the following equation.

According to another aspect of the present invention, there is provided a method for estimating a three-dimensional underwater position using electromagnetic waves, comprising the steps of: (d) defining an attenuation function according to a loss medium using Maxwell's equation; Deriving an approximate model and a deflection factor according to an effective area of the antenna using the formula; And a generalized modeling of the three-dimensional electromagnetic wave radiation pattern by combining the attenuation model according to the position of the antenna using the awake loss factor function and the inclination loss factor function.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention and the manner of achieving them will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is provided to fully explain the scope of the present invention to those skilled in the art.

According to the present invention, it is easy to estimate the position of an underwater robot having precise and fast dynamic characteristics by using the attenuation characteristics of electromagnetic waves, and it is possible to estimate the position of a submerged robot using precision patterning Can be applied in a necessary environment.

In addition, it is possible to replace the ultrasonic wave which is difficult to use in a short distance, so that the measurement cost can be reduced, and the accuracy of the position estimation can be improved without the problem of the multipath effect.

1 is a view showing an attenuation plane of an omnidirectional antenna in a general spherical coordinate system.
2 is a flowchart showing the operation of the three-dimensional underwater position estimation method using electromagnetic waves according to the present invention.
3 is a diagram illustrating a position loss factor of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.
4 is a diagram illustrating attitude loss factors of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.
FIG. 5 is a diagram illustrating an elevation loss factor of a three-dimensional underwater position estimation method using electromagnetic waves according to the present invention.
FIG. 6 is a diagram illustrating a radiation pattern of an omnidirectional antenna of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.
7 is a diagram illustrating a process of transmitting electromagnetic waves by resonance between transmission and reception antennas in a method of estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.
FIG. 8 is a graph showing the slope loss factor of the method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.
9 is a diagram illustrating a combination of an elevation loss factor and an inclination loss factor of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor can properly define the concept of the term to describe its invention in the best way Should be construed in accordance with the principles and meanings and concepts consistent with the technical idea of the present invention.

Throughout the specification, when a component is referred to as being "comprising" or "comprising", it is to be understood that it may include or exclude other components, not the exclusion of any other component, it means.

Also, the terms "part," "unit," "module," "device," "step," and the like denote units that process at least one function or operation, Or a combination of hardware and software.

2 is a flowchart showing an operation of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention.

FIG. 3 is a diagram illustrating a position loss factor of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention, which includes a fixed node 100 and mobile nodes 200-1 and 200-2 of an omni-directional antenna do.

FIG. 4 is a diagram illustrating a posture loss factor of a three-dimensional underwater position estimation method using an electromagnetic wave according to the present invention, and includes a fixed node 100 and mobile nodes 200-1 and 200-2 of an omni-directional antenna do.

5 is a diagram for illustrating an elevation loss factor of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention, which includes a fixed node 100 and mobile nodes 200-1 and 200-2 of an omni-directional antenna do.

FIG. 6 is a diagram illustrating a radiation pattern of an omnidirectional antenna of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention, and includes a fixed node 100 of an omnidirectional antenna.

FIG. 7 is a diagram illustrating a process of transmitting electromagnetic waves by resonance between transmission and reception antennas in a three-dimensional underwater position estimation method using an electromagnetic wave according to the present invention. The fixed node 100 and the mobile node 200- 1).

FIG. 8 is a diagram illustrating the slope loss factor of the method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention, and includes a fixed node 100 and a mobile node 200-2 of an omnidirectional antenna.

FIG. 9 is a diagram illustrating a combination of an elevation loss factor and an inclination loss factor of a method for estimating a three-dimensional underwater position using electromagnetic waves according to the present invention. The fixed node 100 and the mobile nodes 200-1, 200-2).

A method for estimating a three-dimensional underwater position using an electromagnetic wave according to the present invention will be described with reference to FIGS. 1 to 9 as follows.

Coordinate system definition

First, we define the motion of the transmitting and receiving nodes, that is, the fixed node and the mobile node, which affect each attenuation element, in order to easily see the change in signal attenuation in all directions. The basic electromagnetic wave attenuation factor, distance (

Figure 112015070592474-pat00012
The position loss factor is defined as the influence of the relative position between the fixed node and the mobile node using a spherical coordinate system that represents a coordinate system around the center of the fixed node and the mobile node.

That is, as shown in FIG. 3,

Figure 112015070592474-pat00013
), Wide rotation angle (
Figure 112015070592474-pat00014
) And an elevation angle (the angle between the direction of the electromagnetic wave and the horizontal plane
Figure 112015070592474-pat00015
(S110). ≪ / RTI >

4, Attitude Loss Factor, which is an attenuation factor according to the attitude change of the mobile nodes 200-1 and 200-2, is further defined (S120).

This is a scheme for representing the attenuation due to roll, pitch and yawing motion utilizing the Euler angles between the fixed node 100 and the mobile nodes 200-1 and 200-2, Is the angle due to the polarization between the antennas (

Figure 112015070592474-pat00016
), The pitch angle is the inclination angle (
Figure 112015070592474-pat00017
), A yawing angle due to self rotation (
Figure 112015070592474-pat00018
).

If an isotropic antenna is used as an ideal antenna, it is attenuated only according to the distance and polarization angle regardless of the mutual attitude inconsistency. Therefore, it is not necessary to consider the remaining four factors.

In the case of omnidirectional antennas, since they have the same attenuation pattern in all directions in the horizontal plane (H-plane), the rotation angle of the position loss factor

Figure 112015070592474-pat00019
) And the yawing angle of posture loss factor (
Figure 112015070592474-pat00020
) Need not be considered.

Position loss factor

As shown in FIG. 3, the position loss factor is a function of an attenuation function

Figure 112015070592474-pat00021
And attenuation function by elevation angle
Figure 112015070592474-pat00022
.

Signal attenuation function by distance

Figure 112015070592474-pat00023
Can be calculated as follows by attenuation according to the medium using the FRIIS formula and the Maxwell equation using the transmitted energy density and the receiving end area.

Figure 112015070592474-pat00024

Here, the technique using the Fury's formula and Maxwell's equation is a well-known technique, and a detailed description thereof will be omitted.

If the transmitting / receiving antenna is an omnidirectional antenna, the attenuation according to the distance is expressed by Equation 1 because there is no angular rotation between the two antennas and the horizontal attenuation pattern is the same for all directions when the antenna is kept parallel. However, It is necessary to consider this because the horizontal position as well as the vertical position change.

In the 3 - D environment, it is necessary to define the attenuation factor considering the difference of the vertical position between two antenna nodes.

Angle change due to vertical position The attenuation factor is the elevation angle, which is the angle between the direction of the electromagnetic wave and the horizontal plane,

Figure 112015070592474-pat00025
) And the resulting damping effect is defined as an elevation loss factor.

The elevation loss factor means a rotation angle of the mobile nodes 200-1 and 200-2 relative to the fixed node 100 in accordance with the z-axis movement of the same distance, as shown in FIG.

Also, if the two antennas located on the x-axis are rotated at the same angle, the same effect as the elevation angle can be obtained.

The vertical pattern change model of the antenna is necessary for the case where the position of the transmitter / receiver antenna is distant from the x-z plane as shown in Fig. 5. The pattern model of the omnidirectional antenna is required to grasp the model.

The omni-directional antenna has a pattern characteristic as shown in the two-dimensional pattern of Fig. 6, and can be approximated by Equation (2).

Figure 112015070592474-pat00026

If the transmit and receive antennas are in the same vertical position (

Figure 112015070592474-pat00027
The maximum directivity when in the < RTI ID = 0.0 >
Figure 112015070592474-pat00028
(2), which is a pattern model of an antenna, to a single antenna as shown in Equation (3) (S130).

Figure 112015070592474-pat00029

In order to represent the directional model according to the elevation angle change, the angle corresponding to the radiation pattern of the antenna

Figure 112015070592474-pat00030
From the x-axis to the rotation angle
Figure 112015070592474-pat00031
, And the corresponding model can be expressed by the following equation

Figure 112015070592474-pat00032

Using this model, the attenuation model according to the rotation of the omnidirectional antenna can be confirmed, and the attenuation pattern according to the angle of the vertical plane (E-plane) of the general omnidirectional antenna can be expressed by Equation (5)

Figure 112015070592474-pat00033

The signal attenuation factor according to the rotation of the two antennas can be expressed as a product as shown in Equation 5. This is because according to the Fourie formula, electromagnetic waves leaving the transmission antenna resonate the area of the reception antenna, It is influenced by the directivity (S150).

As shown in FIG. 7, the equation (5) expressed by the product of the resonance is a model of two gains. The attenuation according to the elevation angle rotates the two antennas equally as shown in FIG. 5,

Figure 112015070592474-pat00034
Can be expressed as.

Attitude loss factor

If the attenuation factor of the position loss factor is due to the relative positional difference of the two-node antennas, the factors of the attitude loss factor depend on the relative attitude difference of the mobile nodes 200-1 and 200-2 as shown in FIG.

To define the attitude loss factor, two detailed factors, roll and pitch, need to be analyzed.

The element that follows the roll

Figure 112015070592474-pat00035
Is an angle between the transmission and reception signal vectors and can be expressed as an angle by the rotation of the mobile nodes 200-1 and 200-2 in the roll direction.

Due to the roll rotation of the mobile nodes 200-1 and 200-2, the matching between the electric field and the magnetic field constituting the electromagnetic wave is shifted, resulting in a damping effect.

This can be defined as an element of attitude loss factor and is defined by the following equation.

Figure 112015070592474-pat00036

The attenuation effect according to the rotation angle in the pitch direction can be regarded as an effect of the pitch rotation of the mobile node 200-2 relative to the fixed node 100 as shown in FIG. inclination loss factor.

The slope loss factor is obtained in the same way as the elevation loss factor.

That is, if the elevation loss factor is the attenuation caused by the simultaneous rotation of two antennas, the slope loss factor can be explained by the attenuation due to the rotation of the single antenna as the following equation.

Figure 112015070592474-pat00037

In addition, if the elevation loss factor and the inclination loss factor occur simultaneously as shown in FIG. 9, the following equation can be defined.

Figure 112015070592474-pat00038

Generalized omnidirectional antenna attenuation model

A model of a general three-dimensional radiation pattern in electromagnetic wave propagation using an omnidirectional antenna can be expressed using Equation 9 using a position loss factor and attitude loss factor, which are attenuation factors of the antenna (S160).

Figure 112015070592474-pat00039

From here,

Figure 112015070592474-pat00040
The efficiency according to the physical characteristics of the antenna,
Figure 112015070592474-pat00041
Means efficiency according to impedance mismatching due to transmission of different media,
Figure 112015070592474-pat00042
The attenuation due to the medium and the distance,
Figure 112015070592474-pat00043
Represents the influence of the transmission energy of the transmission antenna and the effective area of the reception antenna,
Figure 112015070592474-pat00044
Are attenuation factors according to the position change of the antenna.

That is, in the case of the FRIIS model, the free space is performed in a limited area, but the generalized three-dimensional model of the omnidirectional underwater antenna of the present invention is improved to consider the attenuation according to the underwater environment which is a lossy medium (S140) .

In addition, the attenuation pattern of the omnidirectional antenna can be defined and the attenuation according to the position of the transmitting / receiving antenna can be considered as shown in the following equation.

Figure 112015070592474-pat00045

Figure 112015070592474-pat00046

In other words, a generalized three-dimensional all-round attenuation pattern model with four attenuation factors is obtained by using the conventional Maxwell's equations,

Figure 112015070592474-pat00047
And an approximate model according to the effective area of the antenna of the formula
Figure 112015070592474-pat00048
And the biased factor
Figure 112015070592474-pat00049
And the attenuation model corresponding to the position of the antenna
Figure 112015070592474-pat00050
And finally represents a generalization model of the three-dimensional omnidirectional antenna.

Therefore, the present invention can be applied not only to the H-plane attenuation model of the omnidirectional antenna using the signal attenuation of the electromagnetic wave, but also to the relative height difference between the antennas, which is an E-plane characteristic required for three- The relative or absolute position of a robot performing an operation in an underwater environment can be grasped in a near-field operation using a manipulator or a work tool, such as a structure construction requiring high precision (S170).

As described above, the three-dimensional underwater position estimation method using the electromagnetic wave of the present invention is based on the modeling of the signal attenuation of the electromagnetic wave according to the relative position and the attitude between the fixed node and the antenna located at the mobile node, It is possible to estimate the position of an object underwater by modeling a generalized pattern.

Through this, it is easy to estimate the position of the underwater robot with precise and fast dynamic characteristics using the attenuation characteristics of electromagnetic waves, and it is possible to estimate the position of the underwater robot in a circumstance where precision manipulation is required by using a constant radiation pattern modeling Applicable.

In addition, it is possible to replace the ultrasonic wave which is difficult to use in a short distance, so that the measurement cost can be reduced, and the accuracy of the position estimation can be improved without the problem of the multipath effect.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: fixed node of antenna
200-1, 200-2: the mobile node of the antenna

Claims (5)

(a) defining a motion parameter between a fixed node and a mobile node of an omnidirectional antenna;
(b) defining a signal attenuation factor according to the relative position and posture between the fixed node and the mobile node;
(c) modeling the individual directivity in the E-plane region of the omnidirectional antenna;
(d) modeling a three-dimensional electromagnetic wave radiation pattern of the omnidirectional antenna with respect to a horizontal plane (H-plane) and a vertical plane (E-plane) using the signal attenuation factor; And
(e) estimating a position of an underwater object using the three-dimensional electromagnetic wave radiation pattern;
Lt; / RTI >
The generalization model is expressed by a model for a three-dimensional radiation pattern in electromagnetic wave propagation using the position loss factor and attitude loss factor, which are the signal attenuation factors,
Figure 112016066007415-pat00069

remind
Figure 112016066007415-pat00070
The efficiency according to the physical characteristics of the antenna,
Figure 112016066007415-pat00071
Efficiency based on impedance mismatching due to transmission of different media,
Figure 112016066007415-pat00072
The attenuation due to the medium and the distance,
Figure 112016066007415-pat00073
The influence of the transmission energy of the transmission antenna and the effective area of the reception antenna,
Figure 112016066007415-pat00074
Gt; wherein < / RTI >< RTI ID = 0.0 >
Three - Dimensional Underwater Location Estimation Using Electromagnetic Wave.
The method according to claim 1,
The step (b)
(b-1) the distance between the fixed node and the mobile node
Figure 112015070592474-pat00051
), Rotation angle (
Figure 112015070592474-pat00052
) And elevation angle
Figure 112015070592474-pat00053
Lt; RTI ID = 0.0 > 1, < / RTI > And
(b-2) a roll angle with respect to polarization between the fixed node and the mobile node
Figure 112015070592474-pat00054
), The pitch angle to the slope (
Figure 112015070592474-pat00055
) And the yaw angle
Figure 112015070592474-pat00056
) Defining a posture loss factor;
≪ / RTI >
Three - Dimensional Underwater Location Estimation Using Electromagnetic Wave.
3. The method of claim 2,
The step (b-1)
Calculating a signal attenuation function according to the distance through attenuation according to the medium using the transmitted energy density and receiving end area; And
Using the elevation angle between the direction of the electromagnetic wave and the horizontal plane,
Figure 112016066007415-pat00057
) Is calculated;
≪ / RTI >
Three - Dimensional Underwater Location Estimation Using Electromagnetic Wave.
The method of claim 3,
The step (b-2)
The roll rotation of the mobile node causes attenuation due to the mismatch of the electric field and the magnetic field constituting the electromagnetic wave,
Figure 112015070592474-pat00058
) ≪ / RTI > is calculated; And
The pitch angle of the mobile node relative to the fixed node,
Figure 112015070592474-pat00059
) Is calculated;
≪ / RTI >
Three - Dimensional Underwater Location Estimation Using Electromagnetic Wave.
5. The method of claim 4,
The step (d)
A damping function according to a loss medium is defined using Maxwell's equation;
Deriving an approximate model and a deflection factor according to an effective area of the antenna using the formula; And
A generalized modeling of the three-dimensional electromagnetic wave radiation pattern by combining attenuation models according to positions of antennas using the elevation loss factor function and the slope loss factor function;
≪ / RTI >
Three - Dimensional Underwater Location Estimation Using Electromagnetic Wave.

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