Method and system for estimating position and velocity of underwater vehicle using doppler beacon

摘要

The present invention relates to a method and system for estimating the position and velocity of a moving object in a water vehicle, and more particularly, to a method and system for estimating the position and velocity of a moving object in the water using a receiving frequency of the moving object in a condition of knowing a plurality of Doppler beacon positions and an originating frequency of each Doppler beacon And more particularly, to a method and system for estimating the position and velocity of a moving object using a Doppler beacon capable of calculating position and velocity. In order to achieve the above object, according to the present invention, there is provided a method for estimating a position and a velocity of a moving object in a water vehicle, comprising: a plurality of beacons outputting acoustic signals having different frequencies; A method of estimating position and velocity as a state, comprising: providing a plurality of beacon positions and an originating frequency of an acoustic signal; measuring frequency of an acoustic signal received by the underwater vehicle from the plurality of beacons And estimating the state of the underwater vehicle using the plurality of beacon position information, the frequency information of the plurality of acoustic signals, and the reception frequency information of the underwater vehicle.