• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.51-55
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• 1997

This study is devote to developing navigation filter for detecting sensor failure in multi-sensor navigation system. In multi-sensor navigation system, Kalman filter is generally used to fuse data of each sensors. Sensor failure is fatal in case that the sensor is used as external measurement of Kalman filter therefore detection and recovery of sensor failure is one the important feature of navigation filter. Generally each sensors have its specific feature in measuring navigational information. Fuzzy theory is proposed to detect external sensor failure and provide valid external measurement to Kalman filter avoiding filter divergence and instability. This idea is applied to Autonomous Underwater Vehicle(AUV) which has two navigation sensor i. e self contained inertial sensor and acoustic external sensor. 2 dimensional simulation result shows acceptable failure detection and recovery

• 수산해양기술연구
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• 제23권1호
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• pp.11-17
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• 1987

원격측정장치를 제작하여 그 성능을 조사하고, 정치망주변의 수중환경소음과 축양조내의 수중생물소음을 각각 직접.원격측정을 동시에 행하여 그 주파수특성을 비교 분석한 결과를 요약하면 다음과 같다. 1. 원격측정장치의 송신기의 입력신호전압을 100~300 mV로 하였을 때 수중환경소음의 원격측정치와 직접측정치는 50Hz~2KHz의 주파수범위에서 상관계수가 0.97로 가장 잘 일치하였다. 2. 원격측정한 수중환경소음의 음압준위는 송수신기간의 거리에 비례하여 감소하였다. 3. 축양조내의 수중생물소음을 원격측정하여 스펙트럼 분석한 결과 50Hz~2KHz의 주파수범위에서는 원격측정치와 직접측정치가 잘 일치하였으며, 2KHz 이상에서는 일치하지 않았다. 따라서, 원격측정장치의 송수신기의 총합주파수특성을 높이면 여러 가지 해양환경요소의 원격측정과 원력어군탐지기의 제작도 가능함을 알 수 있었다.

• 한국군사과학기술학회지
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• 제18권4호
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• pp.350-357
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• 2015

Many countries have been developing and operating an underwater surveillance system in order to protect their oceanic environment from infiltrating hostile marine forces which intend to lay mines, conduct reconnaissance and destroy friendly ships anchored at the harbor. One of the most efficient methods to detect unidentified submarine approaching harbor is sensing variation of magnetism of target by magnetic sensors. This measurement system has an advantage of high possibility of detection and low probability of false alarm, compared to acoustic sensors, although it has relatively decreased detection range. The contents of this paper mainly cover the analysis of possible effectiveness of magnetic sensors. First of all, environmental characteristics of surveillance area and magnetic information of simulated targets has been analyzed. Subsequently, a signal processing method of separating target from geomagnetic field and methods of estimating target location has been proposed.

• 한국음향학회지
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• 제30권2호
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• pp.63-72
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• 2011

본 논문은 반향음과 투과음을 감소시키기 위한 평판형 음향재료의 성능평가 장치를 제작하고 측정시스템을 구성하며 표준표적을 이용한 검증을 통해 신뢰성을 확보하는 데 목적이 있다. 반향음감소와 투과손실 측정은 신호간섭이 없도록 대형수조에서 실시되는 것이 일반적이지만, 본 논문에서는 신호간섭을 고려해야 하는 소형수조에서 최저 30 kHz까지 측정이 가능한 측정시스템을 구성하였다. 이를 위해 신호모의를 통해 신호간섭이 없는 최적의 기하학적 배치를 도출하였으며, 획득한 신호를 시간영역과 주파수영역의 총 네 가지 방법으로 ER과 TL을 도출하는 신호처리 알고리즘을 확립하였다. 마지막으로 대형수조에서의 전파손실 실측실험을 통해 측정시스템을 보정하고 알루미늄 판과 스티로폼을 표준표적으로 사용한 측정결과를 Brekhovskikh Layer Model과 비교하여 측정시스템 검증을 수행하였다.

• 한국수산과학회지
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• 제37권4호
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• pp.345-353
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• 2004

Target strength (TS) of Japanese common squids (Todarodes pacificus) were measured using 38 and 120 kHz split beam scientific echosounders under the live condition. For the TS measurement of an individual, a total of 3 squids (mantle length (ML): 22.8, 25, and 27 cm) were used using small fishhook method, whereas for measurement of swimming angle, a total of 8 squids (ML: 21-27 cm) were used under live condition, confined with net cage with 2 m diameter At the same time, two underwater video cameras enabled continuous monitoring of squid behavior. Considering normal behavior, the mean TS at 38 and 120 kHz varied from -48.6 to -45.9 dB, and from -46.5 to -44.6 dB, respectively In both frequencies, mean TS at 120 kHz is relatively higher than that of 38 kHz, approximately 1.3-2.5 dB. From free living condition, the mean swimming angle of the squlds was $-24^{\circ}$. The results of the measurement will be provided basic information for conducting acoustic surveys of the squid.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.27-31
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• 2003

Underwater acoustic navigation systems are classified into three systems: ultra-short baseline (USBL), short baseline (SBL), and long baseline (LBL). Because the USBL system estimates the angle of a submersible, the estimation error becomes large if the submersible is far from the USBL transducer array mounted under a support vessel. SBL and LBL systems estimate submersible's location more accurately because they have wider distribution of measuring sensors. Especially LBL systems are widely used as a navigation system for deep ocean applications. Although it is most accurate system it still has estimation errors because of noise, measurement error, refraction and multi-path of acoustic signal, or wrong information of the distributed transponders. In this paper the estimation error of the LBL system are analyzed from a point of sensitivity. It is assumed that the error exists only in the distance between a submersible and the transponders. For this purpose sensitivity of the estimated position with respect to relative distances between them is analyzed. The result says that estimation error is small if the submersible is close to transponders but not near the ocean bottom.

• 한국음향학회지
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• 제38권2호
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• pp.154-159
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• 2019

수중 이동 음원의 방사 소음을 측정하는 경우 음원과 수신기 사이의 거리 정보가 중요한 평가 요소이며, 수신기 위치, 음원의 수심 및 속도 등과 같이 측정 규격이 정해져 있다. 이동하는 수중 음원의 거리를 찾는 방법으로써 상호 상관도를 사용하는 방법이 있지만 이 방법은 송신기와 수신기 사이의 시간 동기화 과정을 필요로 한다. 본 논문에서는 이론적으로 계산된 다중 경로 신호 사이의 도달 주파수 차와 수신 신호에서 추정된 다중 경로 신호의 도달 주파수 차를 비교하여 거리를 추정하는 방법을 제안한다. 기존의 방법과는 다르게 제안한 방법은 시간 동기화 과정이 필요하지 않다. 성능 검증을 위해 모의실험을 수행하였으며, 거리 오차가 기존의 방법에 비해 약 95 % 감소하였다.

• 한국음향학회:학술대회논문집
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• 한국음향학회 2000년도 하계학술발표대회 논문집 제19권 1호
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• pp.249-252
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• 2000

본 논문에서는 수중음향측정을 위한 수직선배열측정 체계 설계 개념을 연구한다. 본 연구에서는 수직선배열 측정체계를 이용한 음향측정 시 고려해야 할 설계 기법들을 고찰하고, 측정 주파수 대역에서 지향지수가 균일하게 유지되는 비선형 센서배열 설계 알고리즘과 피측정 음원의 위치추정을 위한 음향학적 능/수동 추적 알고리즘을 제안한다 제안 알고리즘의 유용성은 시뮬레이션과 해상시험으로 확인한다.

• 수산해양기술연구
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• 제51권3호
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• pp.461-473
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• 2015

Jinhae Bay located in the southern of Korean Peninsular is an important spawning area in Korea. By some preliminary studies it was measured several times that adult Pacific codes (Gadus microcephalus) were passed (swimming layer: 15 to 18 m) over a submerged sea tunnel (sea bottom: about 30 m) rather than another immigration route when the Pacific codes were tagged surgically with an acoustic transmitters and released inside of the Bay. There is a possibility that the Pacific codes and the other fishes use the route on the sea tunnel as an immigration route are affected by a human-generated underwater noise around the sea tunnel due to the sea tunnel traffic. On this study the 25-hour measurements of the underwater noise level by water layer were conducted with a hydrophone attached on a portable CTD and an underwater noise level meter during four seasons, and the acoustical characteristics of the underwater noise was analyzed. The mean traffic volume for one hour at the sea tunnel on the spring was shown the largest value of 1,408 [standard deviation (SD): 855] vehicles among four seasons measurement. The next one was ordered on the autumn [1,145 (SD: 764)], winter [947 (SD: 598)] and summer [931 (SD: 558)] vehicles. Small size vehicle was formed 84.3% of the traffic volume, and ultra-small size, medium size, large size and extra-large size of the vehicle were taken possession of 8.7%, 3.2%, 2.0% and 1.8%, respectively. On the daily change of the noise level in vertical during four seasons the noise level of 5 m-layer was shown the highest value of 121.2 (SD: 3.6) dB (re $1{\mu}Pa$), the next one was 10 m-layer [120.7 (SD: 3.5)], 2 m- and 15 m-layer [120.3 (SD: 3.5 to 3.7)] and 1 m-layer [119.2 (SD: 3.6)] dB (re $1{\mu}Pa$). In relation with the seasonal change of the noise level the average noise level measured during autumn was shown the highest value of 123.9 (SD: 2.6) dB (re $1{\mu}Pa$), the next was during summer [121.4 (SD: 3.2)], spring [118.0 (SD: 3.4)] and winter [116.5 (SD: 5.1)] dB (re $1{\mu}Pa$). In results of eigenray computation when the real bathymetry data (complicate shape of sea bed) was applied the average number of eigenray was 2.68 times (eigenrays: 11.03 rays) higher than those of model bathymetry (flat and slightly sloped sea bottom). When the real bathymetric data toward inside (water depth becomes shallow according to a distance between the source of noise and hydrophone) of the Bay was applied on the eigenrays calculation the number of the eigenray was 1.31 times (eigenrays: 12.49 rays) larger than the real bathymetric data toward outside (water depth becomes deep with respect to the distance). But when the model bathymetric data toward inside of the Bay was applied the number of the eigenray was 1.05 times (eigenrays: 4.21 rays) larger than the model bathymetric data toward outside.

• 한국해양공학회지
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• 제11권3호
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• pp.170-179
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• 1997

This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.