보간법을 이용한 무인잠수정 3차원 운동의 효율적인 가시화 기법

Abstract

With the increasing requirements for the survey and development of the ocean, the demands on the of AUV(Autonomous Underwater Vehicle) technologies have been increased. Reconstruction and replay of the AUV motion on the basis of the data stored during the execution of mission, can help the development of control strategies for AUVs such as mission planning and control algorithms. While an AUV cruises for her mission, her attitude and position data are is recorded. The data can be used for visualization of the motion in off-line. However, because most of the position data gathered from acoustic sensors have long time-interval and include intermittent faulty signal, the replayed motion by the graphic simulator can not demonstrate the motion as a smooth movie. In this paper, interpolation methods are surveyed to reconstruct the AUV position data. Then, an efficient 3D visualization method for AUV motion using the interpolation method is proposed. Linear interpolation looks like stop motion in graphic simulation, polynomial interpolation has wiggles in the AUV's turn motion as compared with cubic spline interpolation.So the cubic spline interpolation in this thesis is adopted forreconstruction of AUV data. Simulation results are also included to verify the proposed method.