UNDERWATER NAVIGATION SYSTEM FOR A PLATOON OF MULTIPLE UNMANNED UNDERWATER VEHICLES USING RANGE MEASUREMENTS ON TWO REFERENCE STATIONS AND INERTIAL SENSORS

摘要

An underwater navigation system of a front end of an unmanned underwater vehicle using range measurements on two reference stations and inertial sensors is provided to reduce a manufacturing cost by eliminating expensive inertial sensors or expensive speed sensors. A main UUV(Unmanned Underwater Vehicle)(M) transmits a signal corresponding to a position thereof through a sound transducer(100). Sound transponders(210,220) of two reference stations receive the signal from the mother UUV. The sound transponders output response signals after a predetermined delay period. A plurality of sub UUVs(D1) receive the signal of the main UUV in order to record the received time and to detect the position of the main UUV. The sub UUVs receive the response signals, measure the received time, calculate a distance of the two reference stations from the main UUV, and calculate positions thereof by using a triangulation method by using the delay time and a depth signal.