Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
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Effects on Localization by the Period Variation of Measured Position

위치인식 신호획득 주기변화에 의한 위치추정값 영향

  • Shin, Changjoo (Coastal & Ocean Engineering Division, Korea Institute of Ocean Science and Technology) ;
  • Kwon, Osoon (Coastal & Ocean Engineering Division, Korea Institute of Ocean Science and Technology) ;
  • Seo, Jungmin (Coastal & Ocean Engineering Division, Korea Institute of Ocean Science and Technology) ;
  • Kang, Hyoun (Coastal & Ocean Engineering Division, Korea Institute of Ocean Science and Technology)
  • 신창주 (한국해양과학기술원 해양공학연구본부) ;
  • 권오순 (한국해양과학기술원 해양공학연구본부) ;
  • 서정민 (한국해양과학기술원 해양공학연구본부) ;
  • 강현 (한국해양과학기술원 해양공학연구본부)
  • Received : 2018.12.04
  • Accepted : 2019.03.08
  • Published : 2019.03.31
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Abstract

A track type underwater construction robot(URI-R) which can trench on seabed is being developed by Korea Institute of Ocean Science & Technology. During the underwater trenching work, the robot is exposed high intensive noise and vibration so the underwater localization signal may not be obtained properly by the acoustic tracking system. Therefore it is necessary to research about continuous localization even though the measured position signal comes in intermittently. In this paper, the experiments were carried out on land to simulated the underwater operating environment characteristics. To estimate its position, inertial navigation system and global navigation satellite system are used. The effects of the period variation while localizing is investigated by the experiments, and the application for URI-R is proposed.

한국해양과학기술원은 해저에서 지면 굴착 작업이 가능한 트랙 형태의 수중건설로봇 (URI-R)을 개발 중에 있다. 개발 로봇은 수중에서 굴착 작업을 수행하는 동안 강한 소음 및 진동 환경에 노출된다. 이로 인하여 음향을 이용하여 수중 위치 신호를 획득하여야 하는 개발 장비는 신호획득이 어려운 상황에 빈번하게 놓일 수 있다. 이를 극복하기 위하여 개발장비가 수중 위치 신호가 간헐적으로 들어오는 상황 속에 놓여 있어도 연속적으로 자신의 위치를 인식하는 방안을 확보하는 것이 필요하다. 본 논문에서는 비용절감 및 다양한 실험케이스를 확보하기 위하여 수중 작동 특성을 모사할 수 있는 실험을 육상에서 재현하여 실험하였으며 위치 추정을 위하여 관성항법 및 위성항법신호를 사용하였다. 위치 신호획득 주기가 길어짐에 따라 자기 위치 추정에 미치는 영향을 실험적으로 고찰하였다. 이를 통하여 URI-R의 연속적인 자기 위치 인식을 수행하기 위한 위치 신호획득의 최대 주기를 확인하고 이를 적용하고자 한다.

Keywords

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Fig. 1. Underwater trencher (URI-R) under development

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Fig. 2. Localization comparison (Updated measured position period 1 second)

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Fig. 3. Localization comparison (Updated measured position period 5 second)

SHGSCZ_2019_v20n3_23_f0004.png 이미지

Fig. 4. Localization comparison (Updated measured position period 10 second)

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