• 한국군사과학기술학회지
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• 제7권3호
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• pp.47-58
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• 2004

This paper focuses on the technical information about the development of the submarine operational effectiveness simulation model for the feasibility study stage of the submarine design. The simulation model is classified into simulation control model and system model. Using user input and related performance parameters, it can simulate various scenarios by no change of the program because it includes tactic manager which makes decision about every situation. And the Monte-Carlo simulation mode which provides the stochastic results is available. Through the test simulation, the usefulness of the simulation model was verified. It should be helpful for the analysis of the submarine operational effectiveness by diversified scenarios in the concept design phase..

• 한국군사과학기술학회지
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• 제7권3호
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• pp.38-46
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• 2004

This paper deals with the development of simulation model for the horizontal launch at submarines in the preliminary design phase. The simulation model is composed of submarine motion model, cross flow force model in the bow of submarine, and weapon motion model In launch through torpedo tubes. Using submarine and weapon characteristics and simulation condition, it can simulate the exit velocity of weapon through torpedo tubes and reaction forces. It should be helpful for the analysis of the safe launch and design requirements in the preliminary design phase of a submarine or a weapon launched through torpedo tubes.

• 한국군사과학기술학회지
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• 제8권4호
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• pp.14-23
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• 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.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2009년도 춘계학술발표논문집
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• pp.781-784
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• 2009

본 논문에서는 실제 수중 환경에서 선박 또는 잠수함으로부터 발생하는 인위적인 천이신호와 돌고래, 새우 등의 해양 생물로부터 발생하는 천이신호들을 식별하기 위한 특징벡터 추출 기법을 제안하였다. MFCC와 엔트로피 기반의 웨이블릿 패킷 기법을 이용하여 특징을 추출하고, 이 두 특징들을 동시에 적용하여 수중 천이신호를 식별하고자 한다. 기존의 방법인 MFCC와 웨이블릿 패킷 기법과 이 두 방법을 동시에 적용했을 때의 식별률을 비교하였고, 전방향 신경회로망(feed-forward neural network)을 그 특징벡터의 성능을 평가하기 위한 식별기로 사용하였다.

• 한국군사과학기술학회지
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• 제6권2호
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• pp.20-34
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• 2003

The good sea-keeping capability of the SWATH(Small Waterplane Area Twin Hull) ship has been attractive for research or surveillance vessels. Especially, for the naval ships accomplishing the underwater acoustic missions, it is necessary to access and minimize the underwater radiated noise level generated by the ships. Therefore, acoustic signature management and control are very important topics for these vessels. Underwater radiation pattern in the low frequency range is dominated by the tonals from the vibration of onboard machinery. In this work, the radiated noise level generated by the propulsion machine in the submerged hull is predicted using the transfer function technique and the hull transfer function for the submerged hull is determined by analyzing the longitudinal/circumferential stiffened infinitely long cylindrical shell and considering the empirical database of the previous vessels. It is confirmed that the transfer function technique can give useful information for identifying the noise source and estimating its contribution to the total radiatied noise level.

• 한국군사과학기술학회지
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• 제16권4호
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• pp.473-480
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• 2013

The purpose of this paper is to demonstrate that the genetic algorithm can be useful for the global path planning when the obstacles and current field data are given. In particular, the possibilities for a novel type small AUV mission deployment in tidal regions, which experience vortical currents, were examined. Experimental simulations show feasibility and effective in generate the global path regardless of current and obstacles. By choosing an appropriate path in space, an AUV may both bypass adverse currents which are too fast to be overcome by the vehicle's motor and also exploit favorable currents to achieve far greater speeds than motors could otherwise provide, while substantially saving energy.

• 한국군사과학기술학회지
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• 제25권1호
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• pp.72-81
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• 2022

Maritime patrol aircraft is an efficient solution for detecting submarines at sea. The aircraft can only detect submarines by sonobuoy, but the number of buoy is limited. In this paper, we present the online sonobuoy deployment method for estimating the location of submarines. We use Gaussian process regression to estimate the submarine existence probability map, and Bayesian optimization to decide the next best position of sonobuoy. Further, we show the performance of the proposed method by simulation.

• 한국해양학회지:바다
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• 제24권1호
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• pp.18-29
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• 2019

독도와 심흥택 해산의 정상부 및 사면에서 HD 급 비디오카메라, 2기의 LED 조명, 1개의 다목적 로봇팔, 8개의 추진기가 장착된 소형 ROV로 해저면 조사를 수행하였다. 조사에 사용된 장비는 스웨덴에서 제작된 500 m급 소형 무인잠수정 "V8 SII"과 지원모선인 "코쌀 5호"였으며, 수심 범위가 45~370 m인 조사해역의 4정점에서 총 6회 잠수를 수행하였고, 잠수시간은 운용조건에 따라 약 30~120분 소요되었다. 조사 결과, 독도 주변 해저 경사면과 해산 정상부 부근에는 다양한 크기의 암석 및 밀도 높은 부착생물인 심해성 말미잘(Actinostolidae sp.), 거미불가사리류(Ophiuridae sp.), 대게류의 서식이 확인되었다. 본 조사를 통해 얻어진 결과는 1) 주요 수산자원인 대게류의 서식 확인 및 심해생물상 자료, 2) 해저면의 퇴적상 및 지형 특성 확인, 3) 육상기원 어구 폐기물 확인 등이다. 본 탐사는 수산자원 및 생태학적으로 중요한 독도 해저면과 주변 해산의 수중환경의 첫 기록으로서, 동해의 해산 정상부의 심해 저서환경 및 생물의 직접관찰에 소형 ROV가 활용 가능함을 시사하였다.

• 한국통신학회논문지
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• 제39C권11호
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• pp.1124-1131
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• 2014

처프 확산 대역 (chirp spread spectrum: CSS) 기술은 데이터 신호를 처프 신호를 통하여 전송하는 기술로, 잠수함 음향 탐지 등 해양 무선 통신 분야에서 널리 이용되어 왔다. 하지만, 해양 통신 중 존재하는 다중 경로 환경으로 인하여, CSS 기술의 데이터 전송률이 낮아질 수 있다. 이를 극복하기 위하여, 데이터 전송률을 증가시킬 수 있는 오버랩 기반 처프 확산 대역 기술을 제안하고 분석한다. 근사화된 가우시안 Q 함수를 바탕으로 오버랩 기반 CSS 시스템의 닫힌꼴 비트 오류율 (bit error rate: BER) 수식을 유도하고, 또한 오버랩 횟수에 따른 심벌 간 간섭을 (intersymbol interference: ISI) 분석한다.

• 로봇학회논문지
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• 제15권1호
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• pp.24-31
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• 2020

Alternative navigation in underwater environments is essential to prevent accumulating drift error of dead reckoning. In case of using an external positioning system, the installation and management process of the transmission station is cumbersome, and the operation range of underwater vehicle is limited. In order to solve this problem, navigation using geophysical information such as terrain, geomagnetic field and gravity can be used. Unlike the terrain, geomagnetic field and gravity are composed of 3-D information, so continuation process is required. In this paper, we present a integrated navigation algorithm using multiple geophysical information for long-term operation of UUV. The proposed algorithm is verified through numerical simulation in an artificially generated environments. As a result, integrated navigation showed higher navigation accuracy than single alternative navigation.