MEMS 자세 측정 센서 적용 고속 무인 잠수정 자동 조타 기법 검증

황아롬,윤선일,김문환 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5

Unmanned underwater vehicles have many applications in scientific, military, and commercial area due to its autonomy. In many cases, the underwater vehicle usually adopts the control algorithm based on the tactical inertial sensor for the precise control. However the control algorithm using the tactical inertial sensor is not suitable for some underwater vehicle's missions as like the decoy of the torpedo. This paper proposes the control algorithm of unmanned underwater vehicle which doesn't needs the precise control. The control algorithm which is adopted with low cost MEMS inertial sensor is proposed for the unmanned underwater vehicle and the simulation using the specification of the MEMS inertial sensor under developing is performed for the verification of control algorithm under real environment and the results of the simulations are presented.

A Study on Attitude Heading Reference System Based Micro Machined Electro Mechanical System for Small Military Unmanned Underwater Vehicle

황아롬,윤선일 한국마린엔지니어링학회 2015 한국마린엔지니어링학회지 Vol.39 No.5

Generally, underwater unmanned vehicle have adopted an inertial navigation system (INS), dead reckoning (DR), acoustic navigation and geophysical navigation techniques as the navigation method because GPS does not work in deep underwater environment. Even if the tactical inertial sensor can provide very detail measurement during long operation time, it is not suitable to use the tactical inertial sensor for small size and low cost UUV because the tactical inertial sensor is expensive and large. One alternative to INS is attitude heading reference system (AHRS) with the micro-machined electro mechanical system (MEMS) inertial sensor because of MEMS inertial sensor's small size and low power requirement. A cost effective and small size attitude heading reference system (AHRS) which incorporates measurements from 3-axis micro-machined electro mechanical system (MEMS) gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for UUV. The AHRS based MEMS overcome many problems that have inhibited the adoption of inertial system for small UUV such as cost, size and power consumption. Several evaluation experiments were carried out for the validation of the developed AHRS's function and these experiments results are presented. Experiments results prove the fact that the developed MEMS AHRS satisfied the required specification.

무인잠수정 기뢰 탐색 효과도 분석

황아롬,김문환,이심용,윤재문,김찬기,Hwang, A-Rom,Kim, Moon-Hwan,Lee, Sim-Yong,Yoon, Jae-Moon,Kim, Chan-Ki 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5

Mine countermeasure missions(MCMs) may induce the loss of human and ship because of the covert of mine. In recent years, unmanned underwater vehicles(UUVs) have emerged as viable technical solution for conductimg underwater search, surveillance, and clearance operations in support of mine countermeasure missions because of her autonomy and long time endurance capability. This paper introduces a technical approach to mine countermeasure mission effectiveness analysis and presents some simulation-based analysis results for engineering of the UUV system definition which could be support analysis of alternatives for system definition and design.

고속 자율 무인잠수정 적용을 위한 MEMS 기술기반 자세 측정 장치 개발

황아롬,안남현,윤선일,Hwang, A-Rom,Ahn, Nam-Hyun,Yoon, Seon-Il 해양환경안전학회 2013 해양환경안전학회지 Vol.19 No.6

본 연구는 빠른 운항 속도와 짧은 운용 시간을 요구하는 임무에 활용될 저가 소형 자율 무인잠수정에 고가 대형 관성 측정 장치를 대신하여 사용할 수 있는 저가 소형 자세 측정 장치 개발 및 성능 검증을 수행하였다. 저가 소형 자세 측정 장치 개발을 위해서 MEMS 기술을 적용한 gyro, accelerometer 및 magnetometer 채택하여 MEMS 기반 하드웨어를 제작하였으며, 좌표 변환 공식과 칼만 필터를 적용하여 자세 계산 알고리즘을 구현하였다. 또한 개발된 MEMS 기반 자세 측정 장치에 대한 기본 성능 검증을 위한 지자기센서 검증 시험, 정적 자세 시험, 차량 시험, 운동 모사 장치 시험을 수행하였으며, 각각 시험 결과를 제시하였다. 지자기센서 검증 시험 결과 외부 자기장 보정을 통하면 개발된 MEMS 기반 자세 측정 장치의 측정 결과가 외부 자기장에 강인함을 확인하였으며, 정적 자세 시험 및 차량 시험을 통하여 자세 변화가 크지 않는 환경에서 자세 측정 오차가 $0.5^{\circ}/hr$ 임을 확인하였다. 운동 모사 장치 시험을 통하여 5분 내외 자세 변화가 큰 운동 중에도 자세 측정 오차가 발산하지 않고 $1^{\circ}/hr$ 이내임을 확인하였다. 상기 시험 결과로부터 개발된 MEMS 기반 자세 측정 장치가 목표 성능인 $1^{\circ}/hr$이내 roll, pitch, yaw 오차를 보여주고 있음 확인하였으며, 이로부터 20분 내외 운용 시간 동안 정확한 자세 정보 제공 가능성을 확인할 수 있었다. This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

수중 무기의 음향 탐지 체계 및 소음 영향

황아롬 한국소음진동공학회 2010 소음 진동 Vol.20 No.2

Experimental Study on the Vibration Transfer Function of a Small Autonomous Underwater Vehicle

황아롬 한국수산해양교육학회 2023 水産海洋敎育硏究 Vol.35 No.1

This paper presents the experimental results about vibration characteristics of a small autonomous underwater vehicle (AUV) named OKPO 300. The autonomy of AUVs leads to the increased use of AUVs in scientific, military, and commercial areas because their autonomy makes it possible for AUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCMs). It is impossible to use devices with electro-magnetic waves for gathering information in an underwater environment. Only sonar systems that use sound waves can be utilized underwater, and the performance of sonar can strongly affect the autonomy of AUVs. Since a thruster system that combines a motor and propeller in a single structure is widely used as the propulsion system of an AUV and is mounted on the outside of the AUV’s stern, the vibration generated by the thruster system can be transferred throughout the shell of the AUV from the stern to the bow. The transferred vibration can affect the performance of various sonar systems that are installed in the AUV such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to identify the effect of the transferred vibration of the AUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of surface ships, it would be hard to apply numerical methods of the surface ships to identify the vibration phenomena of an AUV because of the underwater environment. In this work, an experimental study with OKPO 300 and an impact hammer was carried out to analyze vibration features of an actual small AUV in the air. Based on the experimental results, the frequency response function of vibration is presented. Based on the experimental results of this study, the natural frequency of OKPO 300 was confirmed, and the possibility of estimating the vibration characteristics of AUV using the transfer function method was shown.

횡동요 운동에서 MEMS AHRS 기반 무인 잠수정 제어 알고리즘에 대한 HILS

황아롬,윤선일 해양환경안전학회 2014 해양환경안전학회 학술발표대회 논문집 Vol.2014 No.11

기뢰 탐색 작전용 무인잠수정 효과도 분석 시뮬레이션을 위한 시뮬레이션 모델 연구

황아롬,김문환,이심용,Hwang, A-Rom,Kim, Moon-Hwan,Lee, Sim-Yong 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.4

In recent years, unmanned underwater vehicles(UUVs) have emerged as viable technical solution for conducting underwater search, surveillance, and clearance operations in support of mine countermeasure missions(MCMs) because of her autonomy and long time endurance capability. It is necessary for UUV for MCM system design to define system specification from various configuration alternatives. This paper introduces a simulation model for mine countermeasure mission effectiveness analysis and presents some simulation results under various tide conditions for validation of the proposed simulation model.

MEMS AHRS 기반 무인 잠수정 제어 알고리즘 연구

황아롬,윤선일 해양환경안전학회 2013 해양환경안전학회 학술발표대회 논문집 Vol.2013 No.11

OKPO 300 진동 특성에 대한 실험적 연구

황아롬(Arom Hwang) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.5

This paper presents experimental results for the vibration characteristics of the small unmanned underwater vehicle (UUV) OPKO 300, which was designed and manufactured by Daewoo ship and Marine Engineering Ltd. The autonomy of UUVs has led to an increase in their use in scientific, military, and commercial areas because their autonomy makes it possible for UUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCM). Since it is impossible to use devices based on electromagnetic waves to gather information in an underwater environment, only sonar systems, which use sound waves, can be used in underwater environments, and their performance can strongly affect the autonomy of a UUV. Since a thruster system, which combines a motor and propeller in a single structure, is widely used as the propulsion system of a UUV and is mounted on the outside of a UUV’s stern, it can generate vibration, which can be transferred throughout the shell of the UUV from its stern to its bow. The transferred vibration can affect the performance of various sonar systems such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to estimate the effect of the transferred vibration of the UUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of a UUV, it would be hard to predict the vibration phenomena of a UUV at the initial design stage. In this work, an experimental study using OKPO 300 and an impact hammer was carried out to analyze the vibration feature of a small real UUV in the air. The frequency response function of the vibration based on the experimental results is presented.