AUV 운용 디지털 트윈의 저대역 상태 동기화를 위한 정보수준별 텔레메트리 구조

현철¹^{, *} ; 김현승² ; 이성균¹ ; 전우중²

1LIG디펜스&에어로스페이스 M&S팀 수석연구원
2LIG디펜스&에어로스페이스 M&S팀 선임연구원

Information-Level Telemetry Structure for Low-Bandwidth State Synchronization of AUV Operational Digital Twins

Chul Hyun¹^{, *} ; Hyunseung Kim² ; Sungkyun Lee¹ ; Woojoong Jeon²

1Principal researcher, M&S Team, LIG Defense&Aerospace
2Senior researcher, M&S Team, LIG Defense&Aerospace

Correspondence to: Chul Hyun 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5178-4293 Fax: +82-31-5179-7086 E-mail: chul.hyun@gmail.com

초록

본 논문은 수중 저대역 통신 환경에서 AUV 운용 디지털 트윈의 상태 동기화를 위한 정보수준별 텔레메트리 구조를 제안한다. AUV 정보전달 문제를 원시 데이터 복제가 아닌 핵심 상태정보 동기화 문제로 정의하고, 전송 정보를 기본 상태정보, 상태 신뢰도 정보, 동적 맥락 정보, 이벤트 정보로 구분하였다. 이를 바탕으로 Level 0부터 Level 3까지의 텔레메트리 구조를 제시하였다. Payload 기준 분석 결과, 원시 데이터 참조값은 약 22.464 kbps인 반면 Level 2 구조는 약 0.512 kbps로 산정되어 약 97.72%의 전송량 절감 가능성을 보였다. 또한 DVL 유실 예시를 통해 이벤트 기반 보조 전송이 원격 디지털 트윈의 상태 저하 인지 지연을 줄일 수 있음을 보였다. 제안 구조는 제한된 수중 통신 환경에서 AUV 운용 디지털 트윈 구현을 위한 기초 텔레메트리 설계 기준으로 활용될 수 있다.

Abstract

This paper proposes an information-level telemetry structure for synchronizing the states of autonomous underwater vehicle (AUV) operational digital twins under low-bandwidth underwater communication. The problem is formulated as essential-state synchronization rather than raw-data replication, and telemetry information is classified into basic state, state confidence, dynamic context, and event information. Based on this classification, four telemetry levels, from Level 0 to Level 3, are defined. Payload-based analysis shows that the reference raw-data stream requires approximately 22.464 kbps, whereas the proposed Level 2 structure requires approximately 0.512 kbps, corresponding to a 97.72% reduction in payload. A DVL outage example further shows that event-based auxiliary transmission can reduce the confidence awareness delay of the remote digital twin. The proposed structure provides a basic telemetry design framework for AUV operational digital twins operating in constrained underwater communication environments.

Keywords:

Autonomous Underwater Vehicle, Digital Twin, State Synchronization, Telemetry, State Confidence

키워드:

자율무인잠수정, 디지털 트윈, 상태 동기화, 텔레메트리, 상태 신뢰도

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