UNDERWATER TOWED SONAR SYSTEM USING WIRE CONTROL AND ATTITUDE AND VELOCITY CONTROL METHOD THEREOF

摘要

Disclosed are an underwater towed sonar system using wire control and an attitude and velocity control method thereof. The underwater towed sonar system using wire control according to an embodiment of the present invention comprises: a tow fish unit prepared to be towed underwater by a towboat and having a sonar mounted thereon for sound wave scanning; multiple winch units mounted on the towboat and including wires connected to both sides of the tow fish unit to be able to adjust the yawing motion of the tow fish unit; a tow fish detection unit mounted on the tow fish unit to provide any one among the position, attitude, velocity and relative velocity of the tow fish unit; and a main control unit for controlling the yawing motion of the tow fish unit by controlling the winch units based on any one among the position, attitude, velocity and relative velocity of the tow fish unit provided from the tow fish detection unit. The underwater towed sonar system using wire control enables the acquisition of high-quality raw data with respect to the images of an underwater environment by towing a tow fish to have constant velocity and linearity during the tow of the tow fish by a towboat.;COPYRIGHT KIPO 2016