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간접 되먹임 필터를 이용한 관성센서 및 초음파 속도센서 기반의 수중 복합항법 알고리듬
이종무(CHONG-MOO LEE),이판묵(PAN-MOOK LEE),성우제(WOO-JAE SEONG) 한국해양공학회 2003 韓國海洋工學會誌 Vol.17 No.6
This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by 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 scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. 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. Simulation was performed with the 6-d.o.f. equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.
반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험
이종무(CHONG-MOO LEE*),이판묵(PAN-MOOK LEE),김시문(SEA-MOON KIM),홍석원(SEOK-WON HONG),서재원(JAE-WON SEO),성우제(WOO-JAE SEONG) 한국해양공학회 2003 韓國海洋工學會誌 Vol.17 No.4
This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an 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. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance. The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. 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.
이종무(Chong-Moo Lee),최현택(Hyun-Taek Choi),문일성(Il-Sung Moon),이판묵(Pan-Mook Lee) 한국해양공학회 2009 韓國海洋工學會誌 Vol.23 No.4
Thrust is one of the important performance characteristics of an AUV. At the design stage, the resistance of an AUV at its maximum. speed is estimated and then the thrust system is designed, including the propeller diameter, propeller rpm, driving system, and required power. However, it is not possible to be certain that the thrust system has been correctly designed until the AUV is launched and its speed is measured. If data from a propeller open-water test is available, the thrust and torque of the propeller at a certain speed can be estimated. In addition, if the motor's torque characteristics are available, the maximum. speed saturated by the induced propeller torque can be estimated. In this paper, an easy technique for estimating the maximum speed of an AUV will be shown, even in a case where additional resistance is gained from appendages not considered at the design stage. Furthermore, the thrust performance changes by adjusting the diameter of the propeller can be easily investigated.
이종무(Chong-Moo Lee),최현택(Hyun-Taek Choi),김기훈(Kihun Kim),이판묵(Pan-Mook Lee),정인식(In-Shik Jung),서영우(Young-Woo Seo),한상철(Sang Chul-Han),구법모(Beob-Mo Gu) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
MOERI has developed a mine disposal vehicle (MDV) under an ACTD (Advanced Concept Technology Demonstrations) project supported by DAPA (Defense Acquisition Program Administration). The vehicle's required top speed is over 7kts for a measure against high currents in the sea near Korean Peninsular. To fulfil the various sophisticated requirements the vehicle carries battery and uses three types of communication channel with surface control unit. Even it can autonomously return to given point without external control. In this paper the vehicle system will be introduced and the principal test results carried out through a year will be shown.
이종무(Chong-Moo Lee),최현택(Hyun-Taek Choi),김기훈(Kihun Kim),여동진(Dong Jin Yeo),이판묵(Pan-Mook Lee) 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.1
The previously developed method of estimating the propulsion performance of a UUV was applied to the high speed UUV, which is propelled by commercial thrusters. The thrusters were selected with an overdesign mentality; in other words, their capacities were excessive. At that point, the designer's concern was focused on a question regarding at what rpm the UUV could reach the design speed. Because the developed method required thrust coefficient curve data, the researchers asked for the POW data of the thrusters from the manufacturer. From the data, the researchers extracted the thrust coefficient and estimated the rpm value of design speed for the UUV. Finally, the researchers compared the estimated value and the result from a self-propulsion test using a VPMM (Vertical planar motion mechanism) test at a towing tank in MOERI.