한국해양공학회:학술대회논문집 (Proceedings of the Korea Committee for Ocean Resources and Engineering Conference)
- 한국해양공학회 2004년도 학술대회지
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- Pages.249-256
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- 2004
MFSK를 이용한 잠수정의 거리 및 방향 예측알고리즘 구현
Implementation of an Algorithm for the Estimation of Range and Direction of an Underwater Vehicle Using MFSK Signals
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김시문
(한국해양연구원 해양개발시스템연구본부) ;
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이판묵
(한국해양연구원 해양개발시스템연구본부) ;
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이종무
(한국해양연구원 해양개발시스템연구본부) ;
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임용곤
(한국해양연구원 해양개발시스템연구본부)
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KIM SEA-MOON
(Ocean Development System Laboratory, KRISO/KORDI) ;
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LEE PAN-MOOK
(Ocean Development System Laboratory, KRISO/KORDI) ;
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LEE CHONG-MOO
(Ocean Development System Laboratory, KRISO/KORDI) ;
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LIM YONG-KON
(Ocean Development System Laboratory, KRISO/KORDI)
- 발행 : 2004.05.01
초록
KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.