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http://dx.doi.org/10.5762/KAIS.2019.20.3.23

Effects on Localization by the Period Variation of Measured Position  

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)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.20, no.3, 2019 , pp. 23-28 More about this Journal
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.
Keywords
INS; Intermittent Signal; Localization; Noise; Underwater Construction Robot;
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