로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제18권4호
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  • Pages.472-480
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  • 2023
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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자율무인잠수정의 항법성능 사전 검증을 위한 시험치구 개발

Development of Test-Equipment for AUVs' Navigation Performance Pre-verification

  • 투고 : 2023.06.30
  • 심사 : 2023.08.15
  • 발행 : 2023.11.30
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초록

This paper describes the development of a test-equipment for the pre-verification of navigation performance in cluster-based AUVs (Autonomous Underwater Vehicle). In the development of an AUV, conducting hardware and software development sequentially is not efficient due to the limited research and development period. Therefore, in order to reduce the overall development time and achieve successful development results, it is essential to pre-validate the navigation system and navigation algorithms. Accordingly, this paper explains the test-equipment for pre-verification of navigation performance, and ultimately confirms the stability of the navigation system and the performance of the navigation algorithms through the analysis of five types of navigation sensor data stored during real-sea experiments. The results demonstrate that through the development and verification of the test-equipment, it is possible to shorten the overall development period and improvement of product quality in the process of developing multiple AUVs.

키워드

과제정보

This research was supported by AUV Fleet and its Operation System Development for Quick Response of Search on Marine Disasters of Korea Institute of Marine Science & Technology Promotion (KIMST) funded by the Korea Coast Guard Agency (KIMST-20210547)

참고문헌

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