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정상기(Sang-ki Jeong),최형식(Hyeung-Sik Choi),서정민(Jung-Min Seo),Tran Ngoc Huy,김준영(Joon-Young Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.
Ring Laser Gyro를 이용한 ARS에 관한 연구
정상기(Sang-Ki Jeong),최형식(Hyeung-Sik Choi),지대형(Dae-Hyeong Ji),정동욱(Dong-Wook Jung),권오순(O-Soon Kwon),신창주(Chang-Joo Shin),서정민(Jung-Min Seo) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.2
Studies were performed on an ARS using SDINS’s RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.