自律型無人潜水機に対するセンサ技術

概要

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A deep and long cruising range AUV (AUV-EX1; development code name), named "URASHIMA", has been developed by JAMSTEC since 1998. URASHIMA can cruise long distance in the sea and collect sea data and water sample automatically for offshore exploration. There are two very important key technologies for a long cruising range autonomous underwater vehicle. One is power source, URASHIMA has Fuel Cell capable of performing long range missions. The another one is navigation system. The AUV cruises independently without any communications between mother ship. It is very important to know his current position and forward environment. URASHIMA has highly accurate navigation sensors, such that Inertial Navigation System (INS) consist of three sets of Ring Laser Gyro and accelerometers, Obstacle Avoidance Sonar (OAS), Acoustic Doppler Current Profiler (ADCP) and acoustic homing sonar. These navigation sensors enable long distance cruising. The sea-going tests have been started since June 2000. The equipment, hard-wear, soft-wear, and autonomous functions, will be improved gradually. In these sea trials, URASHIMA achieve to dive 3,518m depth and cruise 60km distance with autonomous navigation mode.
社団法人日本船舶海洋工学会の論文
2002-03-20