한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2003년도 춘계학술대회 논문집
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- Pages.312-315
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- 2003
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- 2005-8446(pISSN)
소형 무인 해양탐사선 개발에 관한 연구
A Study on the Development of an Unmanned Marine probing Ship
초록
The paper presents a small. unmanned remote controlled probing ship that can reduce the cost for acquiring data of marine and coastal environments. The control system is composed of three microprocessors. one is for overall mission control. another for control of propulsion motors. and the other for sensor operation. For communication system, we adopt direct and indirect methods based on the wireless modem of commercial cellular telephone. The former is a direct communication between the modems of the ship and the server. and the latter is an indirect communication via internet between the ship and the server. The system is equipped with a digital compass and a GPS system for position estimation, and extended Kalman filter is used for the data association. The performance of the ship is demonstrated with the results produced by sets of experiments.
키워드