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http://dx.doi.org/10.6109/jkiice.2008.12.7.1202

Multiple Sensor Fusion Algorithm for the Altitude Estimation of Deep-Sea UUV, HEMIRE  

Kim, Dug-Jin (한국해양연구원 남해연구소)
Kim, Ki-Hun (한국해양연구원 해양시스템안전연구소)
Lee, Pan-Mook (한국해양연구원 해양시스템안전연구소)
Cho, Sung-Kwon (한국해양연구원 남해연구소)
Park, Yeoun-Sik (경상대학교 정보통신공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.12, no.7, 2008 , pp. 1202-1208 More about this Journal
Abstract
This paper represents the multiple sensor fusion algorithm for the deep-sea unmanned underwater vehicles (UUV), composed of a remotely operated vehicle (ROV) 'Hemire' and a depressor 'Henuvy'. The performance of underwater positioning system usually highly depend on that of acoustic sensors such as ultra short base line(USBL), long base line(LBL) and altimeter. A practical sensor fusion algorithm is proposed in the sense of a moving window concept. The performance of the proposed algorithm can be observed by applying the algorithm to the Hemire sea trial data which was measured at the East Sea.
Keywords
다중센서융합;심해무인잠누정;수중음향;신호처리;
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