Çѱ¹Á¤º¸Åë½ÅÇÐȸ ³í¹®Áö (Journal of the Korea Institute of Information and Communication Engineering)
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
¼Ò³ª ¿µ»ó ȹµæÀ» À§ÇÑ ¹«ÀÎÀÚÀ²Ç×¹ý ½Ã½ºÅÛ ±¸Çö |
¿µ¹®Á¦¸ñ(English Title) |
Implementation of AUSV System for Sonar Image Acquisition |
ÀúÀÚ(Author) |
·ùÀçÈÆ
·ù±¤·Ä
Jae Hoon Ryu
Kwang Ryol Ryu
|
¿ø¹®¼ö·Ïó(Citation) |
VOL 20 NO. 11 PP. 2162 ~ 2166 (2016. 11) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®Àº ÇØÀúŽ»ç¿¡¼ ¼Ò³ª¿µ»ó ÃÔ¿µÀ» À§ÇÑ ¹«ÀÎÀÚÀ²Ç×¹ý(AUSV)½Ã½ºÅÛ ±¸Çö¿¡ °üÇÑ ¿¬±¸ÀÌ´Ù. ÀÚÀ²Ç×¹ý ½Ã½ºÅÛÀº ¼±Ã¼¿¡ ¸ð¼Ç¼¾¼, DGPS¿¡ ÀÇÇÑ ÇöÀç °æÀ§µµ ÁÂÇ¥¿Í ¸ñÇ¥Áö °æÀ§µµ ÁÂÇ¥ÀÇ Â÷¸¦ °¡Áö°í ¼±Ã¼ ÃßÁøüÀÇ Ç׷θ¦ FFPID ¾Ë°í¸®ÁòÀ¸·Î Á¦¾îÇÑ´Ù. ½ÇÇè°á°ú, ¸ñÀûÁö ÁÂÇ¥¿¡ ´ëÇÑ Á¦¾îÁÂÇ¥ ¿ÀÂ÷´Â Àüü Ç×¹ý°Å¸® 1km ¿¡¼ 6 m ÀÌÇÏ·Î ¿ì¼öÇÏ´Ù. ¶ÇÇÑ ÀÚÀ²Ç×¹ý ¸ðµå¿¡¼ÀÇ ¼Ò³ª¿µ»ó ÃÔ¿µ °á°ú¹°Àº À¯Àμ± ÃÔ¿µ °á°ú¹°°úÀÇ Â÷ÀÌ´Â 12 È¼Ò ÀÌÇÏ·Î Àüü ¿µ»ó Â÷ÀÌ´Â °ÅÀÇ ½Äº°ÇÒ ¼ö ¾øÀÌ µ¿ÀÏÇÏ´Ù. °³¹ßµÈ ½Ã½ºÅÛÀº À¯Àμ±À¸·Î ÃÔ¿µ ºÒ°¡´ÉÇÑ ÇØÀú ÁöÇü¿¡ ´ëÇÑ ¼Ò³ª ¿µ»ó ÃÔ¿µÀ» À§ÇÑ »õ·Î¿î ¹æ¹ýÀ¸·Î È°¿ë °¡´ÉÇÏ´Ù.
|
¿µ¹®³»¿ë (English Abstract) |
This paper describes the implementation of AUSV system for sonar image acquisition to survey the seabed. The system is controlled by Feed Forward PID algorithm on the vessel for bearing of the thrusters composed of motion sensor and DGPS which calculates the differences between the current location and the destination location for longitude and latitude based on GPS coordinates. As experimental results, the bearing control performance is good that the error distance from the destination positions are under 6m in total survey track of 1km. And the sonar image deviation of a object is under 12 pixels from the manned survey method, which the comparison with the total image quality is almost the same as the manned survey one. Thus the proposed AUSV system is a new method of system can be utilized at the limited survey areas as the surveyor should not be able to approach on sea surface by onboard vessel.
|
Å°¿öµå(Keyword) |
¹«ÀÎÀÚÀ²Ç×¹ý
DGPS
FFPID
Ãø¸éÁÖ»ç¼Ò³ª
̧翟
AUSV
DGPS
FFPID
Side scan sonar
Thruster
|
ÆÄÀÏ÷ºÎ |
PDF ´Ù¿î·Îµå
|