• 한국해양공학회지
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• 제19권2호
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• pp.82-89
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• 2005

This study deals with the development of the extended Kalman filter(EKF) algorithm for the localization of underwater mining vehicles. Both simulation and experimental studies in a test bed are carried out. For the experiments, a scale dawn tracked vehicle is run in a soil bin containing cohesive soil of bentonite-water mixture. To develop the EKF algorithm, we use a kinematic model including the inner/outer track slips and the slip angle for the vehicle. The measurements include the inner and outer wheel speeds from encoders, the heading angle from a compass sensor and a fiber optic rate gyro, and x and y coordinate position values from a vision system. The vision sensor replaces the LBL(Long Base Line) sonar system used in the real underwater positioning situations. Artificial noise signals mimicking the real LBL noise signal are added to the vision sensor information. To know the mean slip values of the tracks in both straight and cornering maneuver, several trial running experiments are executed before applying the EKF algorithm. Experimental results show the effectiveness of the EKF algorithm in rejecting the sensor measurements noise. Also, the simulation and experimental results show close correlations.

• 한국군사과학기술학회지
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• 제6권1호
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• 한국광학회지
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• 제8권4호
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• pp.320-326
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• 1997

Erbium 첨가 광섬유를 이용하여 광섬유 자이로스코프용 광대역폭 광원을 구성하였다. 광원의 구성방식을 달리하며 펌프 power에 따른 광원의 출력 power, 파장선폭, 중심파장을 측정하여 방식간에 이를 비교하였다. 시도된 4가지의 구성방식 중에서 'double pass'방식의 경우에 25 mW의 비교적 낮은 펌핑(파장 1.48.mu.m)으로 5.5 mW의 가장 큰 출력 power를 얻었으며, 충분히 펌핑하는 경우에 펌프 power 변화에 대한 중심파장 변화율이 거의 0에 가까운 안정된 특성을 얻을 수 있었다. 'Amplifier/source'방식은 광원의 출력은 가장 작았으나, 자이로 검출기에 입사되는 power면에서 다른 방식에 비해 최소한 100배 이상 큰 결과를 얻었다. 광원으로의 귀환 수준이 증가함에 따라 파장선폭은 증가했으나 출력 power는 감소했으며 귀환 수준 변화에 따른 중심파장의 변화가 크게 나타나서 귀환광이 자이로의 scale factor에 큰 영향을 미칠 것임을 예측할 수 있었다.