• 한국음향학회지
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• 제40권4호
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• pp.314-319
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• 2021

수중운동체의 수중방사소음을 측정하기 위해서는 수중음향 최근접점 거리의 계산과 해표면 반사 등에 의한 음향간섭이 음향준위에 미치는 영향이 고려되어야 한다. 그러므로 본 논문에서는 해표면 반사에 의한 음향간섭으로 발생하는 로이드 미러 효과가 수중운동체의 수중방사소음 측정 결과에 미치는 영향을 분석하고자 하였다. 수중운동체의 수중방사소음 측정결과에 로이드 미러 효과에 의한 주파수스펙트럼 레벨의 변동이 나타나는 것을 확인하였고, 이론식으로부터 예측한 로이드 미러 패턴이 측정결과와 일치됨을 확인할 수 있었다. 확인된 로이드 미러 패턴으로부터 수중운동체의 최근접점거리를 추정하였으며, 표면 간섭으로 나타나는 로이드 미러 효과가 수중운동체의 수중방사소음 준위 분석에 영향을 미치는 것을 확인하였다.

• 한국소음진동공학회논문집
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• 제16권11호
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• pp.1149-1157
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• 2006

Donoho et al. suggested a wavelet thresholding denoising method based on discrete wavelet transform. This paper proposes an improved denoising method using a new thresholding function based on translation-invariant wavelet for underwater acoustic measurement. The conventional wavelet thresholding denoising method causes Pseudo-Gibbs phenomena near singularities due to the lack of translation-invariant of the wavelet basis. To suppress Pseudo-Gibbs phenomena, a denoising method combining a new thresholding function based on the translation-invariant wavelet transform is proposed in this paper. The new thresholding function is a modified hard-thresholding to each node according to the discriminated threshold so as to reject unknown external noise and white gaussian noise. The experimental results show that the proposed method can effectively eliminate noise, extract characteristic information of radiated noise signals.

• 한국해양공학회지
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• 제36권5호
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• pp.340-352
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• 2022

This article presents a modeling method for the uncorrelated measurement error of the ultra-short baseline (USBL) acoustic positioning system for aiding navigation of underwater vehicles. The Mahalanobis distance (MD) and principal component analysis are applied to decorrelate the errors of USBL measurements, which are correlated in the x- and y-directions and vary according to the relative direction and distance between a reference station and the underwater vehicles. The proposed method can decouple the radial-direction error and angular direction error from each USBL measurement, where the former and latter are independent and dependent, respectively, of the distance between the reference station and the vehicle. With the decorrelation of the USBL errors along the trajectory of the vehicles in every time step, the proposed method can reduce the threshold of the outlier decision level. To demonstrate the effectiveness of the proposed method, simulation studies were performed with motion data obtained from a field experiment involving an autonomous underwater vehicle and USBL signals generated numerically by matching the specifications of a specific USBL with the data of a global positioning system. The simulations indicated that the navigation system is more robust in rejecting outliers of the USBL measurements than conventional ones. In addition, it was shown that the erroneous estimation of the navigation system after a long USBL blackout can converge to the true states using the MD of the USBL measurements. The navigation systems using the uncorrelated error model of the USBL, therefore, can effectively eliminate USBL outliers without loss of uncontaminated signals.

• 한국소음진동공학회논문집
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• 제24권12호
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• pp.969-976
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• 2014

Nowadays, it is required for naval ships to estimate 3D underwater radiated noise pattern in all direction at peak frequencies of hull vibration for the reduction of being detected and doing the effective operation. For this purpose, the numerical method has to be developed to calculate 3D underwater radiated noise pattern with experimental data. It is very difficult to obtain the experimental data for the real ship. Alternative to get the experimental results is to use NAH(near-field acoustic holography) in acoustic tank with experimental model. Application of NAH in acoustic tank for the experimental model needs some investigation of reflection wave from the wall of the acoustic tank and unmeasured zone of the experimental model due to the supporting structure for it. In this study, the effect of reflection wave in the acoustic tank and unmeasured area of the experimental model when using the NAH was investigated with experiment and numerical model. From these, it is known for the error due to reflection wave can be reduced when the distance between the measurement plane and source is being shorten. Also, unmeasured area of the experimental model gives rise to some error in the estimation of the far-field acoustic pressure.

• 한국군사과학기술학회지
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• 제8권4호
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• pp.14-23
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• 2005

In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.175-175
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• 2000

In this Paper we propose a navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with biases and measurement noise, are investigated with theoretically data from KRISO's AUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system comment)'used aboard underwater vehicle.

• 한국소음진동공학회논문집
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• 제24권11호
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• pp.907-918
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• 2014

In this study for the prediction of 3D underwater radiated noise pattern, a comparison between the proposed method(DHIE, Discrete Helmholtz Integral Equation) and the 3D underwater radiated noise calculation results using the measurement of near-field acoustic pressure data is performed. The near-field acoustic pressure in water is measured for the calculation of the far-field radiated noise pattern and the far-field acoustic power. Also the vibration field of the underwater structure is measured in simultaneously. Using the total far-field acoustic power and the vibration field on the surface of the structure, the proposed method(DHIE) can predict the underwater radiated noise pattern of the far-field The predicted results show the reasonable agreement within about 5dB comparing with the experiment result.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권1호
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• pp.20-26
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• 2015

It is very difficult to design an underwater communication system because of multipath, Doppler effects, noise, and attenuation. These factors lead to errors in the communication performance and maximum propagation distance. In this study, we calculate the distance that can be realized using the direct-sequence code division multiple access (DS-CDMA) technique with direct-sequence spread spectrum (DSSS) in an underwater communication system considering only the attenuation and noise. We also compare the estimated and calculated propagation distances obtained for several different scenarios.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• 한국시뮬레이션학회논문지
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• 제31권4호
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• pp.11-22
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• 2022

단거리와 달리 장거리 수중 음향 통신에서는 전파 손실을 최소화하기 위해 저주파 신호와 심해 음파 채널을 사용한다. 이 경우 대역 확산과 같은 은밀 통신 기법을 이용하더라도 통신 사실을 숨기기 어려우며, 통신 신호가 탐지 신호처럼 작용하므로 감청기에 수중 운동체의 존재가 노출될 수 있다. 수중 운동체의 경우 은밀성 유지가 매우 중요하므로, 감청기가 통신 신호를 이용하여 아군 수중 운동체를 탐지할 가능성을 반드시 고려해야 한다. 본 논문에서는 수중 운동체의 피탐지 성능 분석을 위한 장거리 수중 음향 통신 환경을 모델링하고, 피탐지 성능 분석을 위한 관심영역 설정 방법과 평가 척도를 제안하였다. 전산 모의 실험을 통해 파라미터를 산출하고, 관심영역에서 피탐지 확률 분석 및 피탐지 성능 분석을 수행하였다. 분석 결과는 제안된 수중 운동체의 피탐지 성능 분석 방법이 장거리 수중 통신 장비의 운용에 있어 중요한 역할을 할 수 있음을 보였다.