AUV のためのナビゲーションシステムの開発

抄録

AUV is stable for a wide range of search because it does not have an umbilical cable. However, AUV cannot work for a long time because of internal power source. Utilization of charging station in the water is required for long-term operation to solve this problem. In this paper, it is described a navigation system to the station with acoustic positioning system that mounting is possible to the AUV. It has three hydrophones and receives signal from that pinger is mounted the station. Sound source detection is calculated by Cross Correlation Function and Super Short Base Line method. In addition, it is introduced chirp signal as the pinger to develop a robust the system against noises. It is applied the developed system and carried out the experiment for navigation to the pinger. The present result suggested that sound source detection and guidance to the station are feasible in this system.