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김기훈(Kihun Kim),최현택(Hyun-Taek Choi),이종무(Chong-Moo Lee),김시문(Sea-Moon Kim),이판묵(Pan-Mock Lee),조성권(Seong-Kwon Cho) 한국해양공학회 2010 韓國海洋工學會誌 Vol.24 No.3
This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.