• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.312-315
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• 2003

The paper presents a small. unmanned remote controlled probing ship that can reduce the cost for acquiring data of marine and coastal environments. The control system is composed of three microprocessors. one is for overall mission control. another for control of propulsion motors. and the other for sensor operation. For communication system, we adopt direct and indirect methods based on the wireless modem of commercial cellular telephone. The former is a direct communication between the modems of the ship and the server. and the latter is an indirect communication via internet between the ship and the server. The system is equipped with a digital compass and a GPS system for position estimation, and extended Kalman filter is used for the data association. The performance of the ship is demonstrated with the results produced by sets of experiments.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.59-65
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• 2004

The paper presents a small unmanned probing ship that can be used for acquiring information on marine and coastal environments. For communication system, we adopt direct and indirect methods based on the wireless modem of a commercial cellular telephone. The former is a direct communication between the modems of the ship and the server, and the latter is an indirect communication via internet between the ship and the server. The system is equipped with a digital compass and a GPS for position estimation, and extended Kalman filter is used for Navigation. The performance of the ship is demonstrated with the results produced by sets of experiments.