A 3-D UNDERWATER LOCATION ESTIMATING METHOD USING ELECTROMAGNETIC WAVES

摘要

Provided is a 3D underwater location estimating method using an electromagnetic wave comprising: (a) step of defining a movement parameter between a fixing node and a moving node of an omnidirectional antenna; (b) step of defining a signal attenuation factor according to an opposite position between the fixing node and the moving node, and a gesture; (c) step of modeling individual directivity in a vertical side (E-plane) of the omnidirectional antenna; (d) step of modeling a 3D electromagnetic wave radiation pattern of the omnidirectional antenna for a horizontal side (H-plane) and the vertical side (E-plane) by using the signal attenuation factor; and (e) step of estimating a location of an underwater object by using the 3D electromagnetic wave radiation pattern. The present invention easily estimates a location of a fast underwater robot by using an attenuation feature of the electromagnetic wave. The present invention is applied to an environment requiring precision control by using constant radiation pattern modeling according to a distance for the horizontal side and the vertical side. The present invention saves measurement costs instead of use of ultrasonic waves which are difficult to be used in a short distance. The present invention improves location estimation precision with a multipath effect.