• Title, Summary, Keyword: SSBL method

Search Result 7, Processing Time 0.037 seconds

Development of Biotelemetry Method by Combining the SSBL Method and the Pinger Synchronizing Method (1) - Design and production of system - (SSBL 방식과 핑거동기 방식을 조합한 바이오텔레메터리 방식의 개발 (1) -시스템의 설계 및 제작 -)

  • 박주삼;고탁창언
    • Journal of the Korean Society of Fisheries and Ocean Technology
    • /
    • v.39 no.3
    • /
    • pp.218-229
    • /
    • 2003
  • A new biotelemetry method that the installation and the treatment of equipment is convenient and the instantaneously detailed location of the fish attached the pinger is able to track comparatively easily was developed. The receiving system in this biotelemetry method was advanced for track the detailed behavior of the fish by the miniature tracking pinger, because it was a burden to fish to add the pinger with the water temperature and the pressure sensor. By combining of the super short base line (SSBL) method to detect the direction of pinger and the pinger synchronizing method to measure the range from receiving transducer to pinger, the three dimensional locations of fish to the receiving transducer is gotten instantaneously. The receiving system is devised to realize the high precision or wide detection range by application of the basic design method for receiving system of biotelemetry developed by the present authors and the hydrophone array configuration. The measurement distance error in the pinger synchronizing method is minimized through the correction of which the deviation of transmission pluse period of pinger is caused by changing water temperature. A prototype system which is able to track the instantaneously detailed location of the fish by the SSBL and pinger synchronizing biotelemetry (SPB) method was produced.

Verification of Practicality for the SSBL and Pinger Synchronizing Biotelemetry Method and System through the Tracking of Fish (어류의 행동추적에 의한 SSBL · 핑거동기 바이오텔레메터리 방식과 시스템의 실용성 검증)

  • Park, Ju-Sam
    • Journal of the Korean Society of Fisheries and Ocean Technology
    • /
    • v.40 no.1
    • /
    • pp.78-85
    • /
    • 2004
  • The new biotelemetry method and system that the installation and the treatment of equipment is convenient and the instantaneously detailed position of the fish attached a pinger is able to track comparatively easily had been developed, an practicality of it were verified in the water tank and the small sea port through the tracking of fish. The biotelemetry method had been gotten the three dimensional locations of fish to the receiving transducer by combining of the super short base line (SSBL) method to detect the direction of pinger and the pinger synchronizing method to measure the range from receiving transducer to pinger. The receiving system had been designed to realize the high precision or wide detection range by application of the basic design method for receiving system of biotelemetry and the hydrophone array configuration. From tracking test of carp in the water tank, the migration course and the velocity of carp was investigated and the observed migration course was compared with measurement. The measured migration course of carp coincided with the observation in the main and the position of carp was able to track three dimensionally. The velocity of carp measured by the moving average method was 11.2cm/s. From tracking test of yellowtail in the small sea port, the migration course and the velocity of yellowtail was investigated at natural condition. The position of yellowtail was able to track three dimensionally and the velocity of it measured by moving average method was 43.9cm/s.

Development of Biotelemetry Method by Combining the SSBL Method and the Pinger Synchronizing Method (2) - Evaluation for Precision of System - (SSBL 방식과 핑거동기 방식을 조합한 바이오텔레메터리 방식의 개발 (2) -시스템의 정도 평가 -)

  • 박주삼;고탁창언
    • Journal of the Korean Society of Fisheries and Ocean Technology
    • /
    • v.39 no.4
    • /
    • pp.318-325
    • /
    • 2003
  • The new biotelemetry method and system that the installation and the treatment of equipment is convenient and the instantaneously detailed position of the fish attached the pinger is able to track comparatively easily had been developed, an availabilities of it were verified in water tank by using hydrophone and pinger. First of all, the receiving system for biotelemetry was calibrated so as to measure tracking of high precision or wide detection range. In the next place, the precision at narrow and wide beam array of receiving system by using hydrophone was investigated and the actual position was compared with measured hydrophone position. The mean standard deviations of the position by narrow beam array of receiving system were 6.4em in phase beam of fore-aft pair and 6.3em in starboard-port pair, and the wide beam array were 24em and 23em respectively. The precision of distance, position, and velocity at narrow beam array of receiving system by using pinger were investigated and the actual values were compared with measured values. The distance from receiving system to pinger was measured by the pinger synchronizing method, angle of direction of pinger was detected by the super short base line (SSBL) method. The three dimensional position of pinger to the receiving system was measured by combining of two kinds of methods (SPB method), the velocity of pinger was obtained with a differential of the three dimensional positions. The mean standard deviations of the distance by pinger synchronizing method in narrow beam array of receiving system was 1. 8 em, that of the position by SPB method was 7.7cm.

Sensor Fusion for Underwater Navigation of Unmanned Underwater Vehicle (무인잠수정의 수중합법을 위한 센서융합)

  • Sur, Joo-No
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.8 no.4
    • /
    • pp.14-23
    • /
    • 2005
  • 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.

Performance Analysis of In-Flight Alignment Using UKF (UKE를 사용한 운항 중 정렬 성능 분석)

  • Kang, Woo-Yong;Kim, Kwang-Jin;Park, Chan-Gook
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.12 no.11
    • /
    • pp.1124-1129
    • /
    • 2006
  • In this paper, in-flight alignment algorithm using UKF is presented for an SDINS aided by SSBL or GPS system under large initial heading error. The EKF usually applied for this task. This approximates the propagation of mean and covariance accurate to first-order only. To overcome this limitation, the unscented transformation that achieves second order approximation is applied to the in-flight alignment. To analyze the performance of the proposed method, simulations for S-type trajectory are carried out. The results show that performance of EKF and UKF are the almost same when the initial heading error is smaller than $30^{\circ}$, but UKF has a better performance for large initial heading error about $45^{\circ}$.

Tracking Technology of Fish by an Ultrasonic Biotelemetry System (초음파 바이오텔레메터리를 이용한 어류의 추적기술)

  • Park, Ju-Sam
    • Journal of Fisheries and Marine Sciences Education
    • /
    • v.19 no.3
    • /
    • pp.478-490
    • /
    • 2007
  • A technology of ultrasonic biotelemetry for tracking fish behavior is investigated. The ultrasonic biotelemetry system is constituted by a transmitter and a receiving system. Because a pinger was mainly used for the transmitter, the capability for pinger to possess was investigated and the efficient usage for pinger was examined. A source pressure level and a frequency were synthetically examined so that pinger could realize small size, a light weight, and a long life time. The receiving system is divided roughly into directional hydrophone systems and acoustic positioning systems by the receiving method. The directional hydrophone system is divided into single beam and multiple beam with the number of hydrophone, and the acoustic positioning systems is divided into LBL (Long Base Line), SBL (Short Base Line), and SSBL (Super Short Base Line) on the basis of base line. The present situation, the merits and demerits, and the principle of each receiving method were investigated in detail, and the efficient usage for each receiving method were examined.

Sensor Fusion for Underwater Navigation of Unmanned Underwater Vehicle (무인잠수체의 수중항법을 위한 센서퓨전)

  • 주민근;서주노;송광섭;이판묵;홍석원;박영일
    • 제어로봇시스템학회:학술대회논문집
    • /
    • /
    • pp.175-175
    • /
    • 2000
  • In this Paper we propose a 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 KRISO's AUV. 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 comment)'used aboard underwater vehicle.

  • PDF