The present invention relates to an initial alignment method for inertial navigation of a deep-sea unmanned submersible, and more specifically to an initial alignment method of an unmanned submersible performed after the unmanned submersible has arrived at the seabed. According to the present invention, the initial alignment method of an unmanned submersible according to the present invention comprises: (a) a step of moving an unmanned submersible after arriving at the seabed; (b) a step of calculating the moving azimuth of the unmanned submersible; (c) a step of calculating the transverse slip angle of the unmanned submersible; and (d) a step of estimating the attitude angle of the unmanned submersible by calculating the difference between the moving azimuth and the transverse slip angle. Thus, the present invention can provide the initial alignment method of an unmanned submersible that can effectively perform the initial alignment of an unmanned submersible operated in the deep sea.

    본 발명은 심해 무인잠수정의 관성항법을 위한 초기정렬 방법에 관한 것으로, 보다 상세하게는 무인잠수정이 해저면에 도착한 이후에 진행되는 무인잠수정의 초기정렬 방법에 관한 것이다. 이러한 본 발명에 따르면, 본 발명에 따른 무인잠수정 초기정렬 방법은, 무인잠수정이 해저면에 도착한 뒤 이동하는 (a)단계, 무인잠수정의 이동 방위각을 산출하는 (b)단계, 무인잠수정의 횡슬립각을 산출하는 (c)단계 및 이동 방위각과 횡슬립각의 차이를 계산하여 무인잠수정의 자세각을 추정하는 (d)단계를 포함하여, 심해에서 운용되는 무인잠수정의 초기정렬을 효과적으로 수행할 수 있는 무인잠수정 초기정렬 방법을 제공할 수 있다.


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    Title :

    Initial alignment for SDINS of deep sea unmanned underwater vehicles


    Additional title:

    심해 무인잠수정의 관성항법을 위한 초기정렬 방법


    Contributors:
    LI JI HONG (author) / KIM MIN GYU (author) / JIN HAN SOL (author) / KANG HYUNGJOO (author) / LEE MUN JIK (author) / CHO GUN RAE (author)

    Publication date :

    2024-01-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS




    In-Flight Alignment of SDINS under Large Initial Heading Error

    Hong, H. S. / Lee, J. G. / Park, C. G. | British Library Online Contents | 2002


    In-flight alignment of SDINS under large initial heading error

    Hong, Hyun / Lee, Jang / Park, Ghan | AIAA | 2001


    Comparison of SDINS in-flight alignment using equivalent error models

    Myeong-Jong Yu / Jang Gyu Lee / Heung-Won Park | IEEE | 1999


    A nonlinear robust observer design for SDINS in-flight alignment

    Park, Chan / Lee, Jang / Shim, Duk-Sun et al. | AIAA | 2001