해상상태에 따른 수상 플랫폼의 속도 및 자세 정합 기반 전달정렬 성능 분석

강산희¹^{, *} ; 박석준² ; 정주원¹ ; 유태석³

1LIG넥스원 경어뢰-II 체계개발단 2팀 선임연구원
2LIG넥스원 경어뢰-II 체계개발단 2팀 수석연구원
3LIG넥스원 경어뢰-II 체계개발단 2팀 팀장

Analysis of Transfer Alignment Based on Velocity and Attitude Matching for Surface Vehicles Under Various Sea States

San Hee Kang¹^{, *} ; Seok Joon Park² ; Ju Won Jung¹ ; Tae Suk Yoo³

1Research engineer, Dept. of Light Weight Torpedo System Development, LIG Nex1
2Chief research engineer, Dept. of Light Weight Torpedo System Development, LIG Nex1
3Team leader, Dept. of Light Weight Torpedo System Development, LIG Nex1

Correspondence to: ^*San Hee Kang Dept. of Light Weight Torpedo System Development, LIG Nex1 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-8038-0103 Fax: +82-31-5179-7086 E-mail: sanhee.kang@lignex1.com

초록

본 논문에서는 속도 및 자세 정합 과정에서 발생할 수 있는 다양한 오차 요인을 고려하여 전달정렬 필터를 설계하고 시뮬레이션과 실험을 통해 정렬 성능을 분석한다. 정렬 성능은 필터설계에 좌우될 뿐만 아니라 플랫폼의 동적특성에 많은 영향을 받기 때문에 WMO(World Meteorological Organization) 해상상태 등급을 기반으로 다양한 환경에서 전달정렬 성능을 분석한다.

Abstract

In this paper, we designed a transfer alignment filter that accounts for various error sources that can arise during speed and attitude matching, and we analyzed the alignment performance through simulation and experiment. The alignment performance is influenced not only by the filter design, but also by the dynamic characteristics of the vehicle. Therefore, we analyzed the transfer alignment performance under various conditions using the WMO(World Meteorological Organization) sea state code.

Keywords:

Inertial Navigation System, Transfer Alignment, Leverage effect, Misalignment angle, Time delay, Extended Kalman Filter

키워드:

관성항법장치, 전달정렬, 지렛대효과, 비정렬각, 시간지연, 확장칼만필터

Acknowledgments

이 논문은 2022년도 정부(방위사업청)의 재원으로 국방기술진흥연구소의 지원을 받아 수행된 연구임 (No. KRIT-CT-22-049, 수중자율 무인체를 활용한 잠수함 모의표적 기술).

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