• 제목/요약/키워드: Underwater Localization

검색결과 94건 처리시간 0.028초

두 개의 하이드로폰을 이용한 수중 음원 방향 추정 및 위치 추정 알고리즘 (Direction and Location Estimating Algorithm for Sound Sources with Two Hydrophones in Underwater Environment)

  • 신재욱;송주만;이석영;최현택;박부견
    • 제어로봇시스템학회논문지
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    • 제19권8호
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    • pp.676-681
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    • 2013
  • For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

해저 지형 정보를 이용한 다중 상태 소나의 표적 위치 측정 (Target Localization Using Underwater Objects in Multistatic Sonar)

  • 이광희;서익수;한동석
    • 전자공학회논문지
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    • 제51권2호
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    • pp.141-147
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    • 2014
  • 본 논문에서는 사전에 알고 있는 해저 지형정보를 이용하여 송수신기의 위치와 해저 음속의 정확성을 향상시켜 탐지 범위에 따른 오차에 강인한 위치 측정 알고리듬과 최적의 수신기 개수를 제안하고자 한다. 송수신기 위치, 음속정보의 정확도는 표적 위치 측정의 성능에 영향을 미치며, 송수신기는 GPS를 통해 위치 정보를 얻는다. 그러나 GPS 오차에 의해 여전히 오차를 가지고 있으며, 음속 정보는 수온을 포함한 다양한 요인들에 의해 영향을 받는다. 먼저 송수신기 위치 오차, 음속 오차의 영향을 수학적으로 분석하고 해저 지형 정보를 이용하여 오차를 줄일 수 있는 방법을 확인한다. 컴퓨터 모의실험을 통하여 기존의 알고리듬과 제안된 기법의 성능을 비교 평가하고, 탐지 범위에 따른 최적의 수신기 개수를 확인한다.

수중 기뢰 제거 로봇의 설계, 제어 및 위치 추정 (Design, Control and Localization of Underwater Mine Disposal Robots)

  • 문용선;고낙용;서주노
    • 제어로봇시스템학회논문지
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    • 제19권9호
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    • pp.805-812
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    • 2013
  • This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

DWT와 GPS/INS융합 알고리즘을 이용한 수면이동체의 위치 인식 (Localization of the surface vehicles using DWT and GPS/INS fusion algorithm)

  • 유한동;이인욱;최원석;이장명
    • 로봇학회논문지
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    • 제10권1호
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    • pp.1-8
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    • 2015
  • This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

무인모선기반 무인잠수정의 3차원 위치계측 기법에 관한 연구 (A Study on a 3-D Localization of a AUV Based on a Mother Ship)

  • 임종환;강철웅;김성근
    • 한국해양공학회지
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    • 제19권2호
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    • pp.74-81
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    • 2005
  • A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

구조화된 수중 환경에서 작업을 위한 PETASUS 시스템 II의 위치 인식 및 자율 제어 (Localization and Autonomous Control of PETASUS System II for Manipulation in Structured Environment)

  • 한종희;옥진성;정완균
    • 로봇학회논문지
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    • 제8권1호
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    • pp.37-42
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    • 2013
  • In this paper, a localization algorithm and an autonomous controller for PETASUS system II which is an underwater vehicle-manipulator system, are proposed. To estimate its position and to identify manipulation targets in a structured environment, a multi-rate extended Kalman filter is developed, where map information and data from inertial sensors, sonar sensors, and vision sensors are used. In addition, a three layered control structure is proposed as a controller for autonomy. By this controller, PETASUS system II is able to generate waypoints and make decisions on its own behaviors. Experiment results are provided for verifying proposed algorithms.

Voronoi Diagram-based USBL Outlier Rejection for AUV Localization

  • Hyeonmin Sim;Hangil Joe
    • 한국해양공학회지
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    • 제38권3호
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    • pp.115-123
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    • 2024
  • USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

Sonar-based yaw estimation of target object using shape prediction on viewing angle variation with neural network

  • Sung, Minsung;Yu, Son-Cheol
    • Ocean Systems Engineering
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    • 제10권4호
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    • pp.435-449
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    • 2020
  • This paper proposes a method to estimate the underwater target object's yaw angle using a sonar image. A simulator modeling imaging mechanism of a sonar sensor and a generative adversarial network for style transfer generates realistic template images of the target object by predicting shapes according to the viewing angles. Then, the target object's yaw angle can be estimated by comparing the template images and a shape taken in real sonar images. We verified the proposed method by conducting water tank experiments. The proposed method was also applied to AUV in field experiments. The proposed method, which provides bearing information between underwater objects and the sonar sensor, can be applied to algorithms such as underwater localization or multi-view-based underwater object recognition.

도달지연시간 기법을 이용한 수중 소음원의 위치추적 (Localization of Underwater Noise Sources Using TDOA (Time Difference of Arrival) Method)

  • 안병권;고영주;이욱;최종수;이창섭
    • 대한조선학회논문집
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    • 제48권2호
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    • pp.121-127
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    • 2011
  • As considerable interests in noise emission from a ship have been increased, the need for localization of noise sources of the marine propeller generating cavitation and singing noise is looming large. In many practical cases, cavitation and singing noise occur on a particular position of the certain blade of the propeller. It is so important to know the position of noise source correctly in order to eliminate or suppress unwanted noise. In this study, we develop "noise source localization technology" using TDOA method. Experimental measurements carried out at the circulating water channel and towing tank show that noise source can be clearly identified and localized using TDOA method.

물고기 로봇을 위한 USN 기반 초음파 측위 시스템 (USN based sonar localization system for a fish robot)

  • 신대정;나승유;김진영;박아론
    • 센서학회지
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    • 제17권1호
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    • pp.53-60
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    • 2008
  • Localization is the most important functions in mobile robots. There are so many approaches to realize this essential function in wheel based mobile robots, but it is not easy to find similar examples in small underwater robots. It is presented the sonar localization system using ubiquitous sensor network for a fish robot in this paper. A fish robot uses GPS and sonar system to find exact localization. Although GPS is essential tool to obtain positional information, this device doesn't provide reasonable resolution in localization. To obtain more precise localization information, we use several Ubiquitous Sensor Networks (USN) motes with sonar system. Experimental results show that a fish robot obtains more detailed positional information.