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서주노,Sur, Joo-No 한국군사과학기술학회 2005 한국군사과학기술학회지 Vol.8 No.4
In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.
유전자 알고리즘을 이용한 대잠 탐색패턴 최적화 기법 개발
김문환,서주노,박평종,임세한,Kim, Moon-Hwan,Sur, Joo-No,Park, Pyung-Jong,Lim, Se-Han 한국군사과학기술학회 2009 한국군사과학기술학회지 Vol.12 No.1
It is hard to find an operation case using anti-submarine searching pattern(ASSP) developed by Korean navy since Korean navy has begun submarine searching operation. This paper proposes the method to develop hull mount sonar(HMS) based optimal submarine searching pattern by using genetic algorithm. Developing the efficient ASSP based on theory in near sea environment has been demanded for a long time. Submarine searching operation can be executed by using ma ulti-step and multi-layed method. however, In this paper, we propose only HMS based ASSP generation method considering the ocean environment and submarine searching tactics as a step of first research. The genetic algorithm, known as a global opination method, optimizes the parameters affecting efficiency of submarine searching operation. Finally, we confirm the performance of the proposed ASSP by simulation.
해상상태를 고려한 수중예인체 진회수시스템 설계 및 실험
강진일,서주노,정성훈,최형식,김준영,김명경,유용준,Kang, Jin-il,Sur, Joo-no,Jeong, Seong-hoon,Choi, Hyeung-sik,Kim, Joon-young,Kim, Myung-gyung,Kim, Jung-hoon 한국항행학회 2017 韓國航行學會論文誌 Vol.21 No.4
Launch and recovery system(LARS) is required to perform an USV-based underwater exploration. Through the analysis of the requirements according to the scenario of underwater exploration, the mechanism of LARS and the conceptual design of the mechanical parts of LARS are carried out. In addition, a USV motion can be induced due to environmental disturbances such as waves, so the detailed design of LARS for recovering the underwater tow-fish stably in consideration of the USV motion is performed. To verify the performance of launch and recovery operations, LARS and test bed were developed. The results show that the proposed LARS can stably launch and recovery an underwater tow-fish. 무인수상정에서 수중탐색임무를 수행하기 위해서는 자동으로 수중탐색장비 진수 및 회수를 할 수 있는 진회수시스템(LARS; launch and recovery system)이 필수적이다. 수중탐색 운용시나리오에 따른 LARS 요구사항 분석을 통하여 기본적인 구동 메커니즘 및 기구부 개념설계를 수행하였다. 또한 해상에서 무인수상정은 파도와 같은 환경적인 외란에 의해 동요하게 되므로, 이러한 해상상태에 의한 외란을 고려하여 안정적으로 수중탐색장비를 회수하기 위한 상세설계와 제작을 수행하였고, 설계된 LARS에 대하여 수조시험을 통해 진회수 성능을 검증하였다.
집중질량 변화에 따른 수중 고속 운동체의 구조 안정성 해석
오경원(Kyung-Won Oh),서주노(Joo-No Sur),조병구(Byung-Gu Cho),류시웅(Si-Ung Ryu),공창덕(Gong-Duk Kong) 한국해양공학회 2009 韓國海洋工學會誌 Vol.23 No.1
In this paper, the effect of the position and size of a lumped mass on the structural stability of a high speed underwater vehicle is presented. For simplicity, a real vehicle was modeled as a follower force subjected beam that was resting on an elastic foundation, and the lumped mass effect was simplified as an elastic intermediate support. The stability of the simplified model was numerically analyzed based on the Finite element method (FEM). This numerical simulation revealed that flutter type instability or divergence type instability occurs, depending on the position and stiffness of the elastic intermediate support, which implies that the instability of the real model is affected by the position and size of the lumped mass.
확장칼만필터를 이용한 호버링타입 무인잠수정의 위치추정알고리즘 개발
강현석 ( Hyeon-seok Kang ),홍승민 ( Sung-min Hong ),서주노 ( Joo-no Sur ),김동희 ( Dong-hee Kim ),정재훈 ( Jae-hun Jeong ),정성훈 ( Seong-hoon Jeong ),최형식 ( Hyeung-sik Choi ),김준영 ( Joon-young Kim ) 한국항행학회 2017 韓國航行學會論文誌 Vol.21 No.2
본 논문에서는 위성항법장치 (GPS; global positioning system)를 보조센서로 사용하는 위치추정알고리즘의 성능을 검증하기 위해 호버링타입 무인잠수정에 알고리즘을 적용하여 실제 해역에서 실험을 수행하였다. 적용된 알고리즘은 무인잠수정에 탑재된 도플러 속도계 (DVL; doppler velocity logger), TCM (tilt-compensated compass module)을 이용한 추측항법의 시간에 따라 누적되는 위치오차를 개선하기 위한 알고리즘이다. 수면에서 GPS 위치정보를 수신하여 무인잠수정의 위치와 진북에 대한 TCM의 방향각 바이어스 오차를 추정하고, 이를 통해 진북 (geodetic north) 기준의 좌표계에 대한 추측항법을 수행한다. 실제 해역에서 방향각 제어 실험을 수행한 결과, 위치추정알고리즘을 통해 기존 추측항법의 위치오차가 개선되고 TCM의 방향각 바이어스 오차를 추정함을 확인하였다. In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.
확장칼만필터를 이용한 무인잠수정의 GPS 보조 추측항법 알고리즘 설계
강현석(Hyeon-Seok Kang),홍승민(Sung-Min Hong),서주노(Joo-No Sur),김준영(Joon-Young Kim) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.1
This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position information when surfaced. Based on the results of a simulation, the locational error was bounded with a modest distance, after estimating the AUV position and heading bias error of the magnetic compass when surfaced. In other words, it was verified that proposed algorithm improves the position error in the NED coordinate system.