수중운동체 자율주행 알고리즘 검증을 위한 고해상도 해저지형 생성

김현승¹^{, *} ; 현철² ; 이성균² ; 김창환² ; 고진용¹

1LIG넥스원 전장분석개발팀 선임연구원관
2LIG넥스원 전장분석개발팀 수석연구원

Generation of High-resolution Submarine Topography for Verifying Autonomous Driving Algorithm of Underwater Vehicle

Hyunseung Kim¹^{, *} ; Chul Hyun² ; Sungkyun Lee² ; Changhwan Kim² ; Jinyong Go¹

1Senior researcher, Dept. of Battlefield Analysis and Development, LIG Nex1
2Principal researcher, Dept. of Battlefield Analysis and Development, LIG Nex1

Correspondence to: ^*Hyunseung Kim Dept. of Battlefield Analysis and Development, LIG Nex1 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5179-7272 Fax: +82-31-5179-7086 E-mail: hyunseung.kim2@lignex1.com

초록

본 논문에서는 1.6 km 거리 간격의 한반도 동해안 인근 해저지형 실제 수심 데이터를 활용하여 거리 1 m 간격의 고해상도 해저지형도를 모델링하는 기법을 제안한다. 랜덤워크 방식으로 생성한 기본 해저지형에 실제 수심 데이터에서 산출한 해저산의 개수와 반경, 최대고도를 기반으로 해저산을 생성하여 더하였다. 실제 수심 데이터와 모델링한 해저지형도를 비교 검증하였고, 수중운동체의 자율주행 알고리즘 검증을 위한 경로계획 수립에 활용할 것으로 기대된다.

Abstract

In this paper, we propose a technique to model high resolution seafloor topography with 1 m intervals using actual water depth data near the east coast of the Korea with 1.6 km distance intervals. Basic topography were generated by the random walk method and undersea mountains were created and added based on the number, radius, and maximum height of undersea mountains from actual water depth data. Modeled seafloor topography were compared with actual water depth data and verified, and it is expected to be used to establish a route plan to verify the autonomous driving algorithm of underwater vehicle.

Keywords:

Autonomous Underwater Vehicle, Route Planning, Underwater Topology, Digital Twin

키워드:

자율수중운동체, 경로계획, 해저지형도, 디지털 트윈

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