SYSTEM FOR SENSING UNDERWATER OCSTACLE amp; PLANING ROUTE USING OBSERVATION CHANGE OF TIDAL CURRENT

摘要

The present invention relates to an underwater obstacle detection and route planning system based on tidal current flow change observation. The present invention includes multiple tidal current sensors attached to an outer portion of an underwater vehicle; a tidal current data generation unit that generates sensing data through the integration processing of measured values, which is the tidal current data of the outer portion of the underwater vehicle, measured by the multiple tidal current sensors; a data processing unit that finds a difference by comparing the sensing data to predicted values which is the tidal current data of the outer portion of the underwater vehicle, the predictions of which are based on existing information; and a movement path generation unit that reversely estimates the external environment of the underwater vehicle based on the difference between the sensing data and the predicted value and generates a new movement route through comparison to underwater vehicle movement information. According to the present invention, underwater collision accidents can be prevented.