전달정렬 오차 개선을 통한 자항식 기뢰 부설 정확도 향상에 대한 연구

Abstract

Mobile mine refers to a mine that combines the propulsion device of a torpedo to be placed at a long distance to improve our troops' survivability. To make the mobile mine to move to the target point and to be placed on its own, it needs to have navigation, performance to enable identifying its own position. So the mobile mine performs a dead reckoning navigation using an inertial navigation system(abbreviated as INS). In order for the mobile mine to perform navigation, it is necessary to acquire initial navigation information through alignment. The mobile mine performs transfer alignment by using a more precise Master INS mounted on the submarine to increase the attitude accuracy. However, in case there is a transfer alignment error, the target accuracy gets lower if the error is larger and the distance is farther from the target point. In this study, the driving records of submarine and mobile mine were analyzed to find the cause of the decrease in target accuracy between maritime trials. As a result of the analysis, there was found to be a transfer alignment error. Moreover, it was also found that the delay in transmission time of navigation information in the transfer alignment process was the cause of the transfer alignment error. In order to improve the transfer alignment error, the Kalman Filter's state variable and measurement gain used for transfer alignment were modified to optimize the algorithm. The results of onshore simulations and maritime tests proved that the target accuracy of mobile mines was enhanced through this improvement plan.