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센서의 데이터 융합을 통한 수중운동체의 운동 계측 방법에 대한 연구
이한솔(Hansol Lee),김규현(Gyuhyun Kim),추진우(Jinwoo Choo),이지홍(Jihong Lee) 대한전자공학회 2017 대한전자공학회 학술대회 Vol.2017 No.6
In this paper, we propose a navigation algorithm for high - precision measurement of the motion of an underwater vehicle through data fusion between an optical system, which is a global area sensor, and an IMU sensor, which is a local area sensor. Navigation algorithm is based on the Kalman filter structure and the results of two navigation algorithms with different IMU integration methods are compared and analyzed in a simulator of a dynamical based underwater vehicle simulation environment to evaluate the algorithm performance.