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수중정찰용 자율무인잠수정의 운동 모델링 및 시험을 통한 계수 조정
이필엽(Phil-Yeop Lee),박성국(Sung-Kook Park),권순태(Soon Tae Kwon),박상웅(Sangwoong Park),정훈상(Hunsang Jung),박민수(Min-Soo Park),이판묵(Pan-Mook Lee) 한국해양공학회 2015 韓國海洋工學會誌 Vol.29 No.6
This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.
PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증
박성국,이필엽,박상웅,권순태,정훈상,박민수,Park, Sung-kook,Lee, Phil-yeop,Park, Sangwoong,Kwon, Soon T.,Jung, Hunsang,Park, Min-su 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
관성 항법 센서와 도킹 유도 센서를 융합한무인잠수정의 도킹 유도 항법 알고리즘에 대한 연구
김규현,이지홍,이필엽,김호성,이한솔 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.7
This paper describes a docking guidance navigation algorithm for autonomous underwater vehicles (AUVs). To dock an AUV to a docking station installed underwater, a set of inertial navigation sensors used for conventional AUV navigation and a set of docking guidance sensors for docking missions are used. A docking guidance sensor typically measures the relative distance and attitude between the AUV and the docking station. As many different sensors are used, a precise position and attitude estimation technique, considering both types of sensors, is needed. Therefore, we designed a serial filter chain for estimating the orientation, position, and relative distance. Considering the non-holonomic characteristics of an AUV in the underwater environment, we first estimated the attitude by separating the position and the attitude. Then, the position of the AUV was estimated on the basis of the estimated attitude. Finally, we estimated the relative distance from the docking station to the estimated AUV position. This paper contributes to the following topics: i) position and attitude estimation considering non-holonomic characteristics of AUVs; and ii) precision estimation algorithm for docking guidance using docking guidance sensors.
상대 관측 정보 신뢰도 판단을 통한 다중자율무인잠수정의 정밀한 위치 추정
이권수,최기환,이필엽,김호성,이한솔,강형주,이지홍 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.6
This paper describes a reliability assessment of relative observations for multiple autonomous underwater vehicles (multiple-AUVs). Swarm control and collision avoidance, the primary issues of a multiple-AUV system, intrinsically need precise localization of Multiple-AUVs, and relative observations of each autonomous underwater vehicle (AUV) are critical to improving localization precision. However, because relative observations are usually measured by ultrasonic sensors, the reliability of sensor data varies depending on the characteristics of each AUVs’ trajectories, as implied in previous our study. Therefore, this paper proposed a reliability assessment method based on the trajectories of each AUV and integrated the derived reliability of relative observations into the multiple-AUV localization algorithm. Consequently, localization performance with real sea experimental data is improved up to 77.4% compared with the previous independent navigation algorithm of each AUV and 60.6% compared with the previous study without the reliability assessment. We conclude that the proposed method is suitable for precise localization through relative observations. .
이지홍,김근홍,이필엽,서일성 대한전자공학회 2006 電子工學會論文誌-TC (Telecommunications) Vol.43 No.4
This paper proposes an FSS(Frequency Selective Surface) design system that automatically derives design parameters minimally specified by engineers. The proposed system derives optimal design parameters through theory of electromagnetic scattering on FSS, database implemented from real data obtained from practically manufactured FSS, and GA(Genetic Algorithm) for optimizing design parameters. The system, at the first step, searches the best matching FSS within preconstructed DB with given characteristics specified by operators, and then sets initial genes from the searched FSS parameters. GA iterates the optimization process until the system finds the FSS design parameters that matches the characteristics specified by operators. The theory for the electromagnetic scattering on FSS is verified by comparing the simulation results with real data obtained by measuring system composed of horn antenna and receiver. The process for manufacturing the FSS is also included in the paper. 본 논문에서는 설계자가 원하는 주파수 특성을 갖는 FSS(Frequency Selective Surface)를 자동으로 설계해주는 시스템을 개발하고 실제 적용한 예를 기술한다. 설계 시스템은 전자파 산란 해석이론, 실제 제작한 FSS들의 특성을 측정하여 구축된 DB, 그리고 유전 알고리즘을 이용해서 설계자가 기대하는 특성을 가진 FSS의 설계 요소들을 제시한다. 설계 시스템은 첫 단계로 설계자가 요구한 특성과 가장 유사한 특성을 갖는 FSS 파라미터들을 DB로부터 구하고, 두 번째 단계로 이 파라미터들로부터 초기 개체들을 구성하여 유전학적 진화를 통해 설계자가 요구한 특성을 갖는 FSS 설계 파라미터가 출력되도록 개발되었다. 유전 알고리즘 내에서 사용되는 FSS 해석이론은 실제 제작된 FSS 샘플을 혼 안테나를 사용하여 실제로 측정한 데이터와 비교 분석하여 그 타당성을 검증하였다. 아울러 FSS를 제작하는 과정도 간단히 소개하였다.
추진우,이권수,이필엽,김호성,이한솔,박대길,이지홍 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.8
This paper describes a position based in-motion alignment method for underwater navigation of an AUV(Autonomous Underwater Vehicle). For proper estimation of the position and orientation of the AUV the navigation algorithm requires accurate initial values of its position and attitude. However, it is difficult to obtain exact attitude of the AUV in the marine environment, because of the AUV’s body drift caused by flow of the water. To avoid this, in general, the initial alignment is performed on shore using gravitational acceleration, with further launching of AUV into the water. In this paper, we propose the in-motion alignment algorithm that is able to accurately estimate azimuth in the marine environment. Additionally, the proposed method allows to correct velocity of the AUV. .
실해역 환경에서 무인 잠수정의 초기 상태 정렬을 위한 GPS와 관성 항법 센서 기반 항법 정렬 알고리즘
김규현,이지홍,이필엽,김호성,이한솔 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.1
This paper describes an alignment algorithm that estimates the initial heading angle of AUVs (Autonomous Underwater Vehicle) for starting navigation in a sea area. In the basic dead reckoning system, the initial orientation of the vehicle is very important. In particular, the initial heading value is an essential factor in determining the performance of the entire navigation system. However, the heading angle of AUVs cannot be measured accurately because the DCS (Digital Compass) corrupted by surrounding magnetic field in pointing true north direction of the absolute global coordinate system (not the same to magnetic north direction). Therefore, we constructed an experimental constraint and designed an algorithm based on extended Kalman filter using only inertial navigation sensors and a GPS (Global Positioning System) receiver basically. The value of sensor covariance was selected by comparing the navigation results with the reference data. The proposed filter estimates the initial heading angle of AUVs for navigation in a sea area and reflects sampling characteristics of each sensor. Finally, we verify the performance of the filter through experiments.