Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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The Underwater UUV Docking with 3D RF Signal Attenuation based Localization

UUV의 수중 도킹을 위한 전자기파 신호 기반의 위치인식 센서 개발

  • Kwak, Kyungmin (Department of Mechanical and Automotive Engineering, SEOULTECH) ;
  • Park, Daegil (Department of Mechanical Engineering, POSTECH) ;
  • Chung, Wan Kyun (Department of Mechanical Engineering, POSTECH) ;
  • Kim, Jinhyun (Department of Mechanical and Automotive Engineering, SEOULTECH)
  • 곽경민 (서울과학기술대학교 기계자동차공학과) ;
  • 박대길 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과) ;
  • 김진현 (서울과학기술대학교 기계자동차공학과)
  • Received : 2017.05.15
  • Accepted : 2017.05.25
  • Published : 2017.05.31
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Abstract

In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.

Keywords

References

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