[보고서]극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발

박진영

[국가R&D연구보고서] 극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발
Development of core technologies of underwater robot ICT for polar under-ice-shelf exploration and remote monitoring 원문보기

보고서 정보
주관연구기관	한국해양과학기술원 Korea Institute of Ocean Science ＆ Technology
연구책임자	박진영
참여연구자	심형원 , 이판묵 , 이종무 , 전봉환 , 김기훈 , 백혁 , 김동진 , 김승근 , 윤창호 , 김시문 , 성소영 , 하정석 , 오은진 , 강관구 , 노현정 , 이정원 , 신동섭 , 조용호
보고서유형	최종보고서
발행국가	대한민국
언어	한국어
발행년월	2023-12
과제시작연도	2023
주관부처	해양수산부 Ministry of Oceans and Fisheries
연구관리전문기관	선박해양플랜트연구소 Korea Research Institute of Ships &OCEAN Engineering
등록번호	TRKO202400004845
과제고유번호	1525014874
사업명	선박해양플랜트연구소운영지원(주요사업비)
DB 구축일자	2024-08-07
키워드	극지용 Hybrid AUV.역(逆)초단기선 위치 추정.저온 성능시험.신뢰성 중심 유지보수.수중음향통신.수중로봇.극지 빙저 탐사.수중항법.수중음향/통신.빙하 시추.Hybrid AUV for polar regions.iUSBL (inverse ultra-short baseline).Performance test in low temperature.RCM(Reliability Centered Maintenance).Underwater acoustic communication.Underwater robot.under-ice survey in the polar region.underwater navigation.underwater acoustics.communication.ice drilling.

초록 ▼

□ 연구개발목표
극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발
- “빙하” 의 의미 : 일반적인 빙하[氷河(glacier) : 얼음층]의 뜻으로 사용된 용어가 아닌 얼음 아래를 의미하는 빙하(氷下)를 지칭함

□ 연구개발내용
○ 극지 빙저 탐사용 수중로봇 원천기술 개발
○ 극지 수중통신 및 수중음향 기술 개발
○ 극지 빙저 탐사용 수중로봇 저온환경 성능평가 기술 개발
○ 멀티스케일 상변화 모델링 기반 빙하 시추 로봇 용융 원천기술 개발

□ 연구개발성과
○ 극지 빙저 탐사용 수중로봇 플랫폼 기술 개발
○ 극지 빙저 탐사 임무 기술 개발
○ 극지 빙저 환경에서의 항법·운용 기술
○ 극지 빙저 탐사용 수중로봇을 위한 이동형/저전력 수중통신 기술 개발
○ 극지 수중로봇 장비 운용을 위한 iUSBL 수중음향측위 기술 개발
○ 극지 환경을 모사한 시험기법 개발 및 성능평가 기술 개발
○ 빙하 시추 로봇의 상변화 모델링 구현 및 용융 팁 최적 설계

□ 활용계획 및 기대효과
○ 극지 빙저 탐사 수중로봇, 통신, 심부빙하 시추장비 국산화를 통해 국가과학기술력을 제고하고, ICT에 기반한 원격모니터링 기술을 접목함으로써 무인원격감시 체계를 구축하여 경제적인 친환경 남극탐사 기술을 구현할 수 있을 것으로 기대됨
○ 극지 빙저 탐사용 수중로봇 ICT 원천기술을 기반으로 남극해 해저 생태계/자원 탐사 및 남극대륙 빙하 하천 생태계 연구를 위한 극지 빙저 탐사 수중로봇 개발에 활용

(출처 : 국문요약문 5p)

Abstract ▼

□ Purpose
Development of core technologies of underwater robot ICT for polar under-ice shelf exploration and remote monitoring

□ Contents
○ Development of core technologies of sub-ice surveying underwater robots in the polar regions
○ Development of core technologies of underwater co

□ Purpose
Development of core technologies of underwater robot ICT for polar under-ice shelf exploration and remote monitoring

□ Contents
○ Development of core technologies of sub-ice surveying underwater robots in the polar regions
○ Development of core technologies of underwater communication in the polar regions
○ Development of core technologies of underwater acoustics in the polar regions
○ Development of performance evaluation technologies for sub-ice surveying underwater robots in the polar regions
○ Development of melting technologies of glacier drilling robots based on phase transfer model

□ Development results
○ Development of platform technologies of sub-ice surveying underwater robots in the polar regions
○ Development of mission technologies for sub-ice surveying in the polar regions
○ Development of navigation and operation technologies under sub-ice environment in the polar regions
○ Development of underwater communication technologies considering movement and low power for sub-ice surveying underwater robots in the polar regions
○ Development of iUSBL underwater acoustic positioning technologies for operation of underwater robots in the polar regions
○ Development of performance evaluation technologies and test technique simulating polar environment
○ Implementation of phase transfer model and development of melting element technologies of glacier drilling robots

□ Expected Contribution
○ It is anticipated that it will be possible to enhance national scientific and technological power through localization of polar glacier exploration underwater robot, communication and deep glacier drilling equipment and to implement economical eco-friendly Antarctic exploration technology by establishing an unmanned remote surveillance system through integrating remote monitoring technology based on ICT.
○ It can be used for the development of an underwater robot for polar under-ice shelf exploration in order to exploration of seabed ecosystem/resources in the Antarctic Ocean and study on glacier ecosystem in Antarctica based on the core technologies of underwater robot ICT for polar under-ice shelf exploration

(source : Summary 6p)

목차 Contents

표지 ... 1
제 출 문 ... 3
보고서 초록 ... 4
국문요약문 ... 5
Summary ... 6
당해 단계 실적 요약 ... 7
목차 ... 9
표목차 ... 11
그림목차 ... 13
제 1 장 서론 ... 18
제 1 절 연구개발 개요 ... 18
1. 개요 ... 18
2. 연구개발 필요성 ... 20
3. 주요 정책과의 적합성 ... 21
제 2 절 연구개발 목표 및 연구내용 ... 22
1. 연구개발 목표 및 내용 ... 22
제 3 절 추진체계 ... 26
1. 다본부 협력 추진체계 ... 26
제 2 장 극지 빙저 탐사와 수중로봇 원천기술 개발 ... 28
제 1 절 개요 ... 28
1. 극지 빙저 탐사를 위한 수중로봇 플랫폼 ... 28
2. 진·회수 및 운용 ... 28
3. 빙저 항법 ... 28
제 2 절 극지용 Hybrid AUV 설계 ... 28
1. 성과목표 ... 28
2. 결과 및 달성근거 ... 29
제 3 절 Ice-Hole 진회수 운용 프로세스 ... 42
1. 성과목표 ... 42
2. 결과 및 달성근거 ... 46
제 4 절 음향 기준점 수중 복합 항법 ... 47
1. 성과목표 ... 47
2. 결과 및 달성근거 ... 47
3. 통합AHRS 고도화 ... 71
제 5 절 신뢰성 중심 유지보수 관리 방안 도출 ... 75
1. 성과목표 ... 75
2. 결과 및 달성근거 ... 75
제 3 장 극지 수중통신 기술 개발 ... 87
제 1 절 개요 ... 87
제 2 절 이동형 수중통신 신호처리 기술 개발 ... 87
1. 성과목표 ... 87
2. 결과 및 달성근거 ... 90
제 4 장 극지 수중음향 기술 개발 ... 140
제 1 절 개요 ... 140
제 2 절 기술동향 ... 140
1. 국내 기술 동향 ... 140
2. 국외 기술 동향 ... 140
제 3 절 iUSBL 수중음향 측위기술 개발 ... 141
1. 성과목표 ... 141
2. 결과 및 달성근거 ... 141
3. 반사파 환경에 강인한 iUSBL 알고리즘 개발 ... 146
4. iUSBL 알고리즘 검증 수치해석 ... 149
5. iUSBL 알고리즘 구현 ... 152
6. iUSBL 알고리즘 검증 수조시험 ... 154
제 5 장 극지 빙저 탐사용 수중로봇 저온환경 성능평가 기술 개발 ... 156
제 1 절 개요 ... 156
1. 4차년도 주요 연구 내용 ... 156
2. 5차년도 주요 연구 내용 ... 156
제 2 절 극지 환경을 모사한 시험기법 개발 및 성능평가 기술 개발 ... 156
1. 성과목표 ... 156
2. 결과 및 달성근거 ... 162
제 6 장 연구개발 목표 달성도 및 활용 계획 ... 177
제 1 절 연구개발 목표 달성도 ... 177
제 2 절 활용 계획 ... 178
1. 분야 별 활용 계획 ... 178
제 7 장 결 언 ... 181
제 1 절 최종 단계 연구 내용 요약 ... 181
참고문헌 ... 183
끝페이지 ... 190

표/그림 (156)

표 극지 빙저 탐사를 위 한 Hybrid AUV 요구사양

표 선정된 센서 장비

표 Technadyne Model 560 DC Brushless thruster 및 제원

표 Dimension of the HAUV

표 Dimension of the HAUV

표 Modular design for each section (BSPES4010-12310-2, 2021)

표 설계 • 제작한 배터리에 대한 상온과 시험온도 조건에서의 전압 비교 결과 (BSPES4010-12310-2, 2021)

표 HAUV and PC-AUV model for VPMM experiments

표 Simulation of turning motion on the horizontal plane

표 Simulation of Zig-Zag motion

표 Conceptual representation of the hardware-in-the-loop simulation.(Esteba, Joan, et al., 2022)

표 HAUV Simulator based on the open-source Stonefish

표 IDEF3 Process modelling

표 Overall process modelf for launch and recovery via ice-hole based on IDEF3

표 Launch and recovery

표 Conceptual art for launch and recovery

표 Relation of vehicle coordinate and global coordinate

표 Rotation of coordinate axis with unitary matrix

표 Specification of the AUV Sparus II used in the experiment

표 Sparus-II AUV connected with a tethered buoy for WiFi communication

표 Support Vessel equipped with USBL and GPS, trolling motor for station keeping

표 Trajectory of a support vessel equipped with a USBL transceiver and the measured position of a stationary AUV

표 USBL measurement error depending on range and relative direction m time period [9, 2190]s

표 (upper) USBL measurement，(lower) Error distribution in Euclidean space (circles: σ,2σ,3σ), Mahalanobis distance, and the normalized Mahalanobis distance

표 Error distribution in Euclidean space, Mahalanobis distance, and the normalized Mahalanobis distance

표 Standard deviation for the principal axis of the measured AUV position

표 Trajectory goals of the AUV

표 Estimated trajectory of the USBL-aided inertial navigation system for the test #1 by square-trajectory following

표 Outlier detection level 5 in Mahalanobis distance

표 USBL-aided integrated navigation system for the square trajectory depending on the design parameters : left (σR: variable, σA = 5°, Qx=0.1, Qu =0.01), right (σR = 0.2m, σA： variable, Qx =0.1, Qu = 0.01)

표 Estimated trajectory of the USBL-aided inertial navigation system for the test #1 by rectangular-trajectory following

표 Outlier detection level 5 in Mahalanobis distance

표 Motion, position, integrated navigation and variance of estimation error of Sparus-II AUV for the test #3 by lawn-mowins mode

표 USBL-aided INS for straight trajectory following with normal covariance model: ED judge=5m, σA =σR = 2m, Qx =0.1, Qu =0.01, Px = 1.0m

표 통합 AHRS 데이터 분석 프로그램 GUI

표 비교 시험용 지그 3D모데링과 X-Y-Z 축 회전 시험 지그

표 FI200P와 제작된 센서 사이즈 비교

표 Establishment of Reliability Maintenance Strategy for HAUV

표 Decision of Maintenance Tasks Based on Losic Tree Analysis

표 Setting the Maintenance Period Based on B10 Life

표 Abbreviations for fault tree diagram

표 Abbreviations for fault tree diagram

표 Experts’ judgements on basic events

표 Aggregated results (lines) and defuzzification results with their failure probability (columns) for 18 basic events under good (blue), moderate(green), and bad (red) conditions

표 Risk analysis results for intermediate event failure probability during a 24 h mission

표 AUV loss probability calculated for each intermediate event in the fault tree per mission

표 Impact of various environmental factors on autonomous underwater vehicles loss probability per mission

표 Designed packet structure

표 Designed transmitter structure

표 Designed receiver structure

표 Considered carrier frequency and bandwidth

표 Channel data transmission rate according to the packet parameters

표 Physical layer parameters for simulation

표 Simulated coded BER performance according to the channel code

표 Maximum estimated Doppler shift according to the preamble length with 10kHz carrier frequency and 2kHz bandwidth

표 Maximum estimated Doppler shift according to the preamble length and data length

표 Various signal pattern

표 Signal spectrum of various signal patterns

표 Correlation between 2 repeated preamble sequences without Doppler shift

표 Correlation between 2 repeated preamble sequences with 0.002 Doppler shift

표 Correlation of a packet with a known LFM signal

표 Proposed packet start detection metric result(red line) and correlation result(blue line) when Doppler shift is 0(left) or 0.002(right)

표 Packet start detection error according to conventional method and proposed method

표 MSE of Doppler estimation with different preamble signal

표 Packet structure with N times repeated preamble

표 Physical layer parameters for simulation

표 Normalized MSE of Doppler estimation according to the preamble length L when N=16

표 Normalized MSE of Doppler estimation according to the N when L=16

표 Normalized MSE of Doppler estimation according to the relative velocity when N=16 and L=16

표 Simple CP augmentation makes phase discontinuity

표 CP augmentation to make phase continuity

표 BER performance of CPM with channel equalization under AWGN channel

표 Simulated BER performance of CPM with one-tap channel equalization with 0.001 Doppler shift under AWGN channel

표 Simulated BER performance of CPM with 3-tap channel equalization with 0.001 Doppler shift under AWGN channel

표 Designed packet structure considering Doppler shift

표 Physical layer parameters for packet structure design

표 CP durations according to the block length when CP length is 1/8 of block length

표 simulated BER performance with LS and OMP channel equalization methods when the parameters are N=64, K=14 and L=32

표 Considered carrier frequency and bandwidth

표 Channel data transmission rate according to the packet parameters

표 Simulated coded BER performance according to the channel code

표 TX symbol making processes

표 Write procedure of block interleaver

표 Read procedure of block interleaver

표 Demodulation and channel decodins procedure

표 Demodulation and channel decoding procedure with Turbo equalization procedures

표 input bit according pk =+1

표 input bit according to the trellis pk = - 1

표 Packet structure for simulation

표 Packet structure parameters

표 Simulated BER performance according to the channel code without Doppler shift

표 Simulated BER performance according to the channel code with 0.001 Doppler shift

표 Simulated BER performance according to the channel code with 0.001 Doppler shift and 10 multipaths

표 Experiment sensor setup

표 Parameters of experiment packet structures

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is CS method

표 Estimated channel impulse response

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1000m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1000m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1250m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1500m distance and channel estimation is CS method

표 Channel impulse responses of each receiver channel with 5 multipaths (4th & 5th are very close)

표 Comparison of angle estimation error (blue: w/o reflection elimination, winl/win2 w/ relfection elimination)

표 Experimental set-up of iUSBL mudle test

표 Photos of the iUSBL module test with KRASS

표 Experimental set-up for the cold room test

표 Photos of the cold room test

표 Comparison of range estimation errors with and without multipath elimination

표 A sample phase variation of cross spectrum vs baseband frequency

표 Multipath elimination method for overlapped multipath signal. The yellow background is the component to be considered for processing

표 Comparison of range and angle estimation errors for various elimination methods (none, winl，and win2)

표 Comparison of range and angle estimation error for various overlapped ratio (0, 25%，50%，75%)

표 Comparison of range and angle estimation error for two processing frequency band (passband and baseband)

표 Comparison of range and angle estimation error for various window function of transmitting signal (None, Kaiser-Bessel, and Hanning)

표 Implemented iUSBL system

표 FPGA bandpass filter parameters

표 GUI of KRASS

표 Lab test set-up for iUSBL verification

표 Lab test results of iUSBL system

표 Tank test configuration for iUSBL system verification

표 Photos of the tank test for iUSBL system verification

표 Comparison of measured and true angles vs time

표 Comparison of the tank test results w/ and w/o the multipath elimination algorithm

표 Air Temperature Conditions by Climatic Region as Specified in MIL-STD-810H

표 Conceptual Diagram of Low-Temperature Performance Test Procedure According to Operational Temperature Environment in MIL-STD-810H

표 Measurement Equipment Management Register Recorded in ISO9001 Quality Documentation

표 Pre-Cold Room Performance Evaluation Results for HAUV Low-Temperature Performance Assessment

표 Test Procedure Diagram for Ice Pressure Characteristics Acting on HAUV Surface

표 Appearance of Tekscan Inc. Pressure Sensor TDO-5211 (35 psi) Used in Ice Pressure Characteristic Tests on HAUV Surface

표 Ice Penetration Test Appearance for Tactile Sensor Calibration

표 Comparison of Tactile Sensor Results Derived from Dynamometer Measurements and Applied Calibration Factors

표 Preparation for Surface Ice Pressure Measurement Test on HAVU Pressure Vessels for Scenarios 1 and 2

표 Preparation for Surface Ice Pressure Measurement Test on HAVU Pressure Vessels for Scenarios 3 and 4

표 Ice Pressure Characteristics Acting on HAUV Surface for Scenario 1

표 Low-Temperature Performance Test Process and Appearance of De-icing on Pressure Vessel Surface

표 Low-Temperature Performance Test Procedure for Scenario 2

표 Ice Pressure Characteristics Acting on HAUV Surface During Deployment and Recovery Process for Scenario 2

표 Low-Temperature Performance Test and Appearance of Model Ice on Pressure Vessel Surface for Scenario 3

표 Drill Hole Appearance After Pressure Vessel Recovery in Scenario 4 Test

표 Ice Pressure Characteristics Acting on HAUV Surface for 15 Hours of Freezing in Scenario 3

표 Ice Pressure Characteristics Acting on HAUV Surface During Deployment and Recovery Process for Scenario 4

표 개념도: 무인수상선-수중자율 이동체 복합체계 임무 및 운용기술 개발(과기정통부)

표 개념도: 군집 수색 자율무인 잠수정 및 운용시스템 개발(해양 경찰)

표/그림 (156)

표 극지 빙저 탐사를 위 한 Hybrid AUV 요구사양

표 선정된 센서 장비

표 Technadyne Model 560 DC Brushless thruster 및 제원

표 Dimension of the HAUV

표 Dimension of the HAUV

표 Modular design for each section (BSPES4010-12310-2, 2021)

표 설계 • 제작한 배터리에 대한 상온과 시험온도 조건에서의 전압 비교 결과 (BSPES4010-12310-2, 2021)

표 HAUV and PC-AUV model for VPMM experiments

표 Simulation of turning motion on the horizontal plane

표 Simulation of Zig-Zag motion

표 Conceptual representation of the hardware-in-the-loop simulation.(Esteba, Joan, et al., 2022)

표 HAUV Simulator based on the open-source Stonefish

표 IDEF3 Process modelling

표 Overall process modelf for launch and recovery via ice-hole based on IDEF3

표 Launch and recovery

표 Conceptual art for launch and recovery

표 Relation of vehicle coordinate and global coordinate

표 Rotation of coordinate axis with unitary matrix

표 Specification of the AUV Sparus II used in the experiment

표 Sparus-II AUV connected with a tethered buoy for WiFi communication

표 Support Vessel equipped with USBL and GPS, trolling motor for station keeping

표 Trajectory of a support vessel equipped with a USBL transceiver and the measured position of a stationary AUV

표 USBL measurement error depending on range and relative direction m time period [9, 2190]s

표 (upper) USBL measurement，(lower) Error distribution in Euclidean space (circles: σ,2σ,3σ), Mahalanobis distance, and the normalized Mahalanobis distance

표 Error distribution in Euclidean space, Mahalanobis distance, and the normalized Mahalanobis distance

표 Standard deviation for the principal axis of the measured AUV position

표 Trajectory goals of the AUV

표 Estimated trajectory of the USBL-aided inertial navigation system for the test #1 by square-trajectory following

표 Outlier detection level 5 in Mahalanobis distance

표 USBL-aided integrated navigation system for the square trajectory depending on the design parameters : left (σR: variable, σA = 5°, Qx=0.1, Qu =0.01), right (σR = 0.2m, σA： variable, Qx =0.1, Qu = 0.01)

표 Estimated trajectory of the USBL-aided inertial navigation system for the test #1 by rectangular-trajectory following

표 Outlier detection level 5 in Mahalanobis distance

표 Motion, position, integrated navigation and variance of estimation error of Sparus-II AUV for the test #3 by lawn-mowins mode

표 USBL-aided INS for straight trajectory following with normal covariance model: ED judge=5m, σA =σR = 2m, Qx =0.1, Qu =0.01, Px = 1.0m

표 통합 AHRS 데이터 분석 프로그램 GUI

표 비교 시험용 지그 3D모데링과 X-Y-Z 축 회전 시험 지그

표 FI200P와 제작된 센서 사이즈 비교

표 Establishment of Reliability Maintenance Strategy for HAUV

표 Decision of Maintenance Tasks Based on Losic Tree Analysis

표 Setting the Maintenance Period Based on B10 Life

표 Abbreviations for fault tree diagram

표 Abbreviations for fault tree diagram

표 Experts’ judgements on basic events

표 Aggregated results (lines) and defuzzification results with their failure probability (columns) for 18 basic events under good (blue), moderate(green), and bad (red) conditions

표 Risk analysis results for intermediate event failure probability during a 24 h mission

표 AUV loss probability calculated for each intermediate event in the fault tree per mission

표 Impact of various environmental factors on autonomous underwater vehicles loss probability per mission

표 Designed packet structure

표 Designed transmitter structure

표 Designed receiver structure

표 Considered carrier frequency and bandwidth

표 Channel data transmission rate according to the packet parameters

표 Physical layer parameters for simulation

표 Simulated coded BER performance according to the channel code

표 Maximum estimated Doppler shift according to the preamble length with 10kHz carrier frequency and 2kHz bandwidth

표 Maximum estimated Doppler shift according to the preamble length and data length

표 Various signal pattern

표 Signal spectrum of various signal patterns

표 Correlation between 2 repeated preamble sequences without Doppler shift

표 Correlation between 2 repeated preamble sequences with 0.002 Doppler shift

표 Correlation of a packet with a known LFM signal

표 Proposed packet start detection metric result(red line) and correlation result(blue line) when Doppler shift is 0(left) or 0.002(right)

표 Packet start detection error according to conventional method and proposed method

표 MSE of Doppler estimation with different preamble signal

표 Packet structure with N times repeated preamble

표 Physical layer parameters for simulation

표 Normalized MSE of Doppler estimation according to the preamble length L when N=16

표 Normalized MSE of Doppler estimation according to the N when L=16

표 Normalized MSE of Doppler estimation according to the relative velocity when N=16 and L=16

표 Simple CP augmentation makes phase discontinuity

표 CP augmentation to make phase continuity

표 BER performance of CPM with channel equalization under AWGN channel

표 Simulated BER performance of CPM with one-tap channel equalization with 0.001 Doppler shift under AWGN channel

표 Simulated BER performance of CPM with 3-tap channel equalization with 0.001 Doppler shift under AWGN channel

표 Designed packet structure considering Doppler shift

표 Physical layer parameters for packet structure design

표 CP durations according to the block length when CP length is 1/8 of block length

표 simulated BER performance with LS and OMP channel equalization methods when the parameters are N=64, K=14 and L=32

표 Considered carrier frequency and bandwidth

표 Channel data transmission rate according to the packet parameters

표 Simulated coded BER performance according to the channel code

표 TX symbol making processes

표 Write procedure of block interleaver

표 Read procedure of block interleaver

표 Demodulation and channel decodins procedure

표 Demodulation and channel decoding procedure with Turbo equalization procedures

표 input bit according pk =+1

표 input bit according to the trellis pk = - 1

표 Packet structure for simulation

표 Packet structure parameters

표 Simulated BER performance according to the channel code without Doppler shift

표 Simulated BER performance according to the channel code with 0.001 Doppler shift

표 Simulated BER performance according to the channel code with 0.001 Doppler shift and 10 multipaths

표 Experiment sensor setup

표 Parameters of experiment packet structures

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is CS method

표 Estimated channel impulse response

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 250m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 500m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 750m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1000m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1000m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1250m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1250m distance and channel estimation is CS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1500m distance and channel estimation is LS method

표 Number of successive receiving packet among acquired data when transmitting distance is 1500m distance and channel estimation is CS method

표 Channel impulse responses of each receiver channel with 5 multipaths (4th & 5th are very close)

표 Comparison of angle estimation error (blue: w/o reflection elimination, winl/win2 w/ relfection elimination)

표 Experimental set-up of iUSBL mudle test

표 Photos of the iUSBL module test with KRASS

표 Experimental set-up for the cold room test

표 Photos of the cold room test

표 Comparison of range estimation errors with and without multipath elimination

표 A sample phase variation of cross spectrum vs baseband frequency

표 Multipath elimination method for overlapped multipath signal. The yellow background is the component to be considered for processing

표 Comparison of range and angle estimation errors for various elimination methods (none, winl，and win2)

표 Comparison of range and angle estimation error for various overlapped ratio (0, 25%，50%，75%)

표 Comparison of range and angle estimation error for two processing frequency band (passband and baseband)

표 Comparison of range and angle estimation error for various window function of transmitting signal (None, Kaiser-Bessel, and Hanning)

표 Implemented iUSBL system

표 FPGA bandpass filter parameters

표 GUI of KRASS

표 Lab test set-up for iUSBL verification

표 Lab test results of iUSBL system

표 Tank test configuration for iUSBL system verification

표 Photos of the tank test for iUSBL system verification

표 Comparison of measured and true angles vs time

표 Comparison of the tank test results w/ and w/o the multipath elimination algorithm

표 Air Temperature Conditions by Climatic Region as Specified in MIL-STD-810H

표 Conceptual Diagram of Low-Temperature Performance Test Procedure According to Operational Temperature Environment in MIL-STD-810H

표 Measurement Equipment Management Register Recorded in ISO9001 Quality Documentation

표 Pre-Cold Room Performance Evaluation Results for HAUV Low-Temperature Performance Assessment

표 Test Procedure Diagram for Ice Pressure Characteristics Acting on HAUV Surface

표 Appearance of Tekscan Inc. Pressure Sensor TDO-5211 (35 psi) Used in Ice Pressure Characteristic Tests on HAUV Surface

표 Ice Penetration Test Appearance for Tactile Sensor Calibration

표 Comparison of Tactile Sensor Results Derived from Dynamometer Measurements and Applied Calibration Factors

표 Preparation for Surface Ice Pressure Measurement Test on HAVU Pressure Vessels for Scenarios 1 and 2

표 Preparation for Surface Ice Pressure Measurement Test on HAVU Pressure Vessels for Scenarios 3 and 4

표 Ice Pressure Characteristics Acting on HAUV Surface for Scenario 1

표 Low-Temperature Performance Test Process and Appearance of De-icing on Pressure Vessel Surface

표 Low-Temperature Performance Test Procedure for Scenario 2

표 Ice Pressure Characteristics Acting on HAUV Surface During Deployment and Recovery Process for Scenario 2

표 Low-Temperature Performance Test and Appearance of Model Ice on Pressure Vessel Surface for Scenario 3

표 Drill Hole Appearance After Pressure Vessel Recovery in Scenario 4 Test

표 Ice Pressure Characteristics Acting on HAUV Surface for 15 Hours of Freezing in Scenario 3

표 Ice Pressure Characteristics Acting on HAUV Surface During Deployment and Recovery Process for Scenario 4

표 개념도: 무인수상선-수중자율 이동체 복합체계 임무 및 운용기술 개발(과기정통부)

표 개념도: 군집 수색 자율무인 잠수정 및 운용시스템 개발(해양 경찰)

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[국가R&D연구보고서] 극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발
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[국가R&D연구보고서] 극지 빙하 탐사와 원격 모니터링을 위한 수중로봇 ICT 원천기술 개발 Development of core technologies of underwater robot ICT for polar under-ice-shelf exploration and remote monitoring 원문보기

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