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- Title
소나 영상 획득을 위한 무인자율항법 시스템 구현.
- Authors
류재훈; 류광렬
- 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.
- Subjects
SONAR imaging; ACOUSTIC imaging; ACOUSTIC holography; ULTRASONIC imaging; MOTION detectors
- Publication
Journal of the Korea Institute of Information & Communication Engineering, 2016, Vol 20, Issue 11, p2162
- ISSN
2234-4772
- Publication type
Article
- DOI
10.6109/jkiice.2016.20.11.2162