KR20080085509A - 2개 기준점에 대한 거리정보와 관성센서를 이용한무인잠수정 선단의 수중 항법시스템 - Google Patents
2개 기준점에 대한 거리정보와 관성센서를 이용한무인잠수정 선단의 수중 항법시스템 Download PDFInfo
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- KR20080085509A KR20080085509A KR1020070027156A KR20070027156A KR20080085509A KR 20080085509 A KR20080085509 A KR 20080085509A KR 1020070027156 A KR1020070027156 A KR 1020070027156A KR 20070027156 A KR20070027156 A KR 20070027156A KR 20080085509 A KR20080085509 A KR 20080085509A
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- South Korea
- Prior art keywords
- uuv
- signal
- reference points
- unmanned submersible
- distance
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Abstract
Description
Claims (2)
- 수중통신 기능을 갖는 음향 트랜스듀서(100), 심도계(400), 운동계측을 위한 관성센서(500)가 설치되어 있는 모선 무인잠수정(M); 음향신호 수신용 단방향 리시버(310), 심도계(400)가 설치되어 있는 n개의 자선 무인잠수정(D1, ... Dn); 및 위치가 알려진 2개 기준점에 설치되어 있는 수중통신 기능을 갖는 음향 트랜스폰더(210, 220)를 포함하여 이루어지며, 2개의 기준점에 대한 거리정보와 관성센서를 이용하여 의사 단기선 위치추적(PLBL; Pseudo Long Base Line)의 원리에 근거하여 작동하는 무인잠수정 선단의 수중항법시스템에 있어서,모선 무인잠수정(M)이 자신의 위치를 음향 트랜스듀서(100)을 통하여 신호(P)를 송신하면; 2개의 기준점 각각의 음향 트랜스폰더(210, 220)는 신호(P)를 수신한 후 일정 시간지연(δt)을 갖고 응답신호(Q1, Q2)를 응답하며; n개의 자선 무인잠수정(D1, ... Dn)은 신호(P)를 각각 수신하여 수신시간(T 0,... T 0 n )을 기록하고, 신호(P)로부터 모선 무인잠수정(M)의 위치를 수신하며, 이후 신호(Q1, Q2)를 수신하여 각각의 신호수신시간 (T 0, T 3, T 4),...(T 0 n , T 2 n +1, T 2 n +2)을 측정하고, 지연시간(δt)와 심도신호(400)를 고려하여 2개 기준점(210, 200)과 모선 무인잠수정(M)의 거리를 계산하고 3각 측량법으로 자선 무인잠수정(D1, ... Dn) 각각의 위치를 계산하는 것을 특징으로 하는 2개의 기준점에 대한 거리정보와 관성센서를 이용한 무인잠수정 선단의 수중항법시스템.
- 제 1 항에 있어서,모선 무인잠수정(M)은,2개 기준점 각각의 음향 트랜스폰더(210, 220)로부터 일정 시간지연(δt)을 갖고 응답되는 신호(Q1, Q2)를 수신하고, 신호수신시간 (T 1, T 2)을 측정하고, 지연시간(δt)을 고려하여 2개 기준점(210, 200)과 모선 무인잠수정(M)의 거리(R 1, R 2)를 계산하며; 모선 무인잠수정(M)에 설치된 관성센서를 기반으로 항법을 위한 상태변수를 구성하고, 확장형 칼만필터를 이용하며; 2개 거리 계측 신호, 심도, 방위 데이터를 측정신호로 하여 수중위치, 자세, 속도 등의 항법데이터를 계산하는 것을 특징으로 하는 2개의 기준점에 대한 거리정보와 관성센서를 이용한 무인잠수정 선단의 수중항법시스템.
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KR1020070027156A KR100906362B1 (ko) | 2007-03-20 | 2007-03-20 | 2개의 기준점에 대한 거리정보와 저정밀도 관성센서를 이용한 무인잠수정 선단의 의사 lbl 수중항법시스템 |
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KR1020070027156A KR100906362B1 (ko) | 2007-03-20 | 2007-03-20 | 2개의 기준점에 대한 거리정보와 저정밀도 관성센서를 이용한 무인잠수정 선단의 의사 lbl 수중항법시스템 |
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Cited By (11)
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WO2012051398A1 (en) * | 2010-10-13 | 2012-04-19 | University Of Delaware | Long-range acoustical positioning system on continental shelf regions |
KR101145772B1 (ko) * | 2011-06-30 | 2012-05-16 | 엘아이지넥스원 주식회사 | 부착형 음향 발신 장치 및 이를 이용한 수중 이동체 탐지 방법 |
RU2468388C2 (ru) * | 2011-01-11 | 2012-11-27 | Федеральное государственное автономное образовательное учреждение высшего профессионального образования "ЮЖНЫЙ ФЕДЕРАЛЬНЫЙ УНИВЕРСИТЕТ" | Гидроакустическая синхронная дальномерная навигационная система |
KR101469226B1 (ko) * | 2012-07-20 | 2014-12-04 | 삼성중공업(주) | 수중 차량 시스템 |
US9625597B2 (en) | 2012-12-20 | 2017-04-18 | Cgg Services Sas | Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys |
CN107757848A (zh) * | 2017-11-16 | 2018-03-06 | 中科探海(苏州)海洋科技有限责任公司 | 一种可编队作业水下自主机器人 |
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US20220073175A1 (en) * | 2018-09-14 | 2022-03-10 | Kawasaki Jukogyo Kabushiki Kaisha | Underwater vehicle system and working method |
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CN116608864A (zh) * | 2023-07-19 | 2023-08-18 | 青岛哈尔滨工程大学创新发展中心 | 一种通信时延影响下基于因子图的auv协同定位方法 |
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WO2012051398A1 (en) * | 2010-10-13 | 2012-04-19 | University Of Delaware | Long-range acoustical positioning system on continental shelf regions |
US9013959B2 (en) | 2010-10-13 | 2015-04-21 | University Of Delaware | Long-range acoustical positioning system on continental shelf regions |
RU2468388C2 (ru) * | 2011-01-11 | 2012-11-27 | Федеральное государственное автономное образовательное учреждение высшего профессионального образования "ЮЖНЫЙ ФЕДЕРАЛЬНЫЙ УНИВЕРСИТЕТ" | Гидроакустическая синхронная дальномерная навигационная система |
KR101145772B1 (ko) * | 2011-06-30 | 2012-05-16 | 엘아이지넥스원 주식회사 | 부착형 음향 발신 장치 및 이를 이용한 수중 이동체 탐지 방법 |
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KR102322175B1 (ko) * | 2020-05-26 | 2021-11-05 | 엘아이지넥스원 주식회사 | 잠수함 탐지용 센서조립체 및 이를 이용한 잠수함 탐지방법 |
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CN116608864B (zh) * | 2023-07-19 | 2023-10-27 | 青岛哈尔滨工程大学创新发展中心 | 一种通信时延影响下基于因子图的auv协同定位方法 |
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