The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Test-Equipment for AUVs' Navigation Performance Pre-verification

자율무인잠수정의 항법성능 사전 검증을 위한 시험치구 개발

  • Received : 2023.06.30
  • Accepted : 2023.08.15
  • Published : 2023.11.30
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Abstract

This paper describes the development of a test-equipment for the pre-verification of navigation performance in cluster-based AUVs (Autonomous Underwater Vehicle). In the development of an AUV, conducting hardware and software development sequentially is not efficient due to the limited research and development period. Therefore, in order to reduce the overall development time and achieve successful development results, it is essential to pre-validate the navigation system and navigation algorithms. Accordingly, this paper explains the test-equipment for pre-verification of navigation performance, and ultimately confirms the stability of the navigation system and the performance of the navigation algorithms through the analysis of five types of navigation sensor data stored during real-sea experiments. The results demonstrate that through the development and verification of the test-equipment, it is possible to shorten the overall development period and improvement of product quality in the process of developing multiple AUVs.

Keywords

Acknowledgement

This research was supported by AUV Fleet and its Operation System Development for Quick Response of Search on Marine Disasters of Korea Institute of Marine Science & Technology Promotion (KIMST) funded by the Korea Coast Guard Agency (KIMST-20210547)

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