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A Software Architecture For A Small Autonomous Underwater Vehicle Navigation System
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Book Synopsis A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System by : Clark D. Stevens
Download or read book A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System written by Clark D. Stevens and published by . This book was released on 1993 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is implemented to compute the ascent path during transit from an object of interest to the surface. INS hardware components include miniature spin gyroscopes, a compass and a depth transducer interfaced through an analog to digital converter. Global Positioning System (GPS) is used to determine the AUV's location after reaching the surface. The reciprocal of the ascent vector is applied to the AUV's GPS position to accurately determine the location of the target of interest. A primarily object- oriented software architecture is implemented here with extensive software testing to verify the proper operation of key modules. The objective of this thesis is to quantify the adequacy of the selected components in meeting these requirements and to develop a breadboard design demonstrating the basic functions of the interim SANS. This research concludes that the components selected for the interim SANS meet the accuracy requirements provided the AUV maintains a climb angle which is equal to or steeper than 12 degrees from a typical mission depth of 20 meters.
Book Synopsis A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System by : Clark D. Stevens
Download or read book A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System written by Clark D. Stevens and published by . This book was released on 1993 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is implemented to compute the ascent path during transit from an object of interest to the surface. INS hardware components include miniature spin gyroscopes, a compass and a depth transducer interfaced through an analog to digital converter. Global Positioning System (GPS) is used to determine the AUV's location after reaching the surface. The reciprocal of the ascent vector is applied to the AUV's GPS position to accurately determine the location of the target of interest. A primarily object- oriented software architecture is implemented here with extensive software testing to verify the proper operation of key modules. The objective of this thesis is to quantify the adequacy of the selected components in meeting these requirements and to develop a breadboard design demonstrating the basic functions of the interim SANS. This research concludes that the components selected for the interim SANS meet the accuracy requirements provided the AUV maintains a climb angle which is equal to or steeper than 12 degrees from a typical mission depth of 20 meters.
Book Synopsis Evaluation of Hardware and Software for a Small Autonomous Underwater Vehicle Navigation System (SANS) by : Nancy Ann Norton
Download or read book Evaluation of Hardware and Software for a Small Autonomous Underwater Vehicle Navigation System (SANS) written by Nancy Ann Norton and published by . This book was released on 1994 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is to evaluate the hardware and software for a Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation system. The SANS is designed to determine the location of an underwater object using a combination of Global Positioning System (GPS) while surfaced, sand Inertial Navigation System (INS) while submerged. Various experimental testing of the hardware was performed to determine the ability of the GPS navigation system to function within the mission requirements. A test was done to determine the time required to obtain a GPS fix. A test of the system while the antenna was covered with water, was done to determine if the GPS signal could penetrate a shallow while the antenna was covered with water, was done to determine if the GPS signal could penetrate a shallow layer of water. Finally, a sea test was done to determine the feasibility of reacquiring a GPS fix after the system has been submerged during normal ocean wave wash. A computer simulation was written in Common LISP Object System (CLOS) in order to evaluate the errors introduced by using a accelerometer in the INS to determine the climb angle of the AUV while surfacing. The experimental testing of the GPS system showed that the GPS signal is able to penetrate a shallow layer of water covering the antenna, and that the system is able to meet the accuracy and time requirements of the mission while being splashed by wave wash. The simulation results show that the error introduced by measuring climb angle with an accelerometer is minor and will not significantly degrade the accuracy of the system.
Book Synopsis Controller Design for an Autonomous Underwater Vehicle by : Brian James Decker
Download or read book Controller Design for an Autonomous Underwater Vehicle written by Brian James Decker and published by . This book was released on 2006 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Hardware Integration of the Small Autonomous Underwater Vehicle Navigation System (SANS) Using a PC/104 Computer by : Kadir Akyol
Download or read book Hardware Integration of the Small Autonomous Underwater Vehicle Navigation System (SANS) Using a PC/104 Computer written by Kadir Akyol and published by . This book was released on 1999-03-01 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) has been developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring. The objective of this thesis is to develop a new version of SANS, aimed at reducing size and increasing reliability by utilizing state-of-the-art hardware components. The new hardware configuration uses a PC/104 computer system, and a Crossbow DMU-VG Six-Axis Inertial Measurement Unit (IMU). The PC/104 computer provides more computing power and more importantly, increases the reliability and compatibility of the system. Replacing the old IMU with a Crossbow IMU' eliminates the need for an analog-to-digital (A/D) converter, and thus reduces the overall size of the SANS. The new hardware components are integrated into a working system. A software interface is developed for each component. An asynchronous Kalman filter is implemented in the current SANS system as a navigation filter. Bench testing is conducted and indicates that the system works properly. The new components reduce the size of the system by 52% and increase the sampling rate to more than 80Hz.
Book Synopsis Control Systems Architecture, Navigation, and Communication Research Using the NPS Phoenix Underwater Vehicle by :
Download or read book Control Systems Architecture, Navigation, and Communication Research Using the NPS Phoenix Underwater Vehicle written by and published by . This book was released on 2005 with total page 35 pages. Available in PDF, EPUB and Kindle. Book excerpt: While there has always been a need to determine the global position of an underwater vehicle, in some missions involving search, mapping, and intervention with objects, navigation to local area landmarks is more appropriate and precise. All aspects of autonomous search have been of interest to us for some time now, and we have recently developed and extended our robot control system architecture using Prolog as a rule based mission specification language to drive vehicle missions involving motion around targets of interest. In particular, we have studied the use of onboard scanning sonar to perform local area navigation. Additionally, we have installed a new low cost short / long baseline acoustic communications / navigation system called DiveTracker, and are developing filtering software that would combine inputs from several sources having different update rates and levels of precision to produce high update rate navigational information with the precision afforded by the low update rate reference. Also, the DiveTracker system affords a low cost acoustic communications system that can be used for low rate message sending and retrieval from autonomous vehicles.
Book Synopsis Guidance and Control, for Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation by :
Download or read book Guidance and Control, for Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation written by and published by . This book was released on 2005 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its guidance, navigation and control performance. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multi-rate, multi-process software architecture for ARIES autonomous control is provided. The architecture is designed to operate using either a single computer processor or two independent, cooperating processors linked through a network interface for improved load balancing. A dual computer implementation is presented here since each processor assumes different tasks for mission operation. Also included is a section on the underwater navigation method using a real-time extended Kalman filter that fuses all sensor data and computes the real time position, orientation, velocity, etc., of the vehicle. Experimental results for navigational accuracy using a DGPS / IMU / Doppler aided navigation system are presented with DGPS pop-up maneuvers.
Book Synopsis Masters Theses in the Pure and Applied Sciences by : Wade H. Shafer
Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS)* at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dis semination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all concerned if the printing and distribution of the volumes were handled by an international publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Corporation of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 39 (thesis year 1994) a total of 13,953 thesis titles from 21 Canadian and 159 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this impor tant annual reference work. While Volume 39 reports theses submitted in 1994, on occasion, certain uni versities do report theses submitted in previous years but not reported at the time.
Book Synopsis Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux by :
Download or read book Adresse de la municipalité de la ville de Paris ... le 17 juin 1790, sur l'alienation & la vente des biens ecclesiastiques & domaniaux written by and published by . This book was released on 1790 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Underwater Vehicles by : Frank Ehlers
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Book Synopsis Design of a Navigation and Control System for an Autonomous Underwater Vehicle by : Peter T. Obuchowski
Download or read book Design of a Navigation and Control System for an Autonomous Underwater Vehicle written by Peter T. Obuchowski and published by . This book was released on 2004 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :Committee on Undersea Vehicles and National Needs Publisher :National Academies Press ISBN 13 :0309588723 Total Pages :114 pages Book Rating :4.3/5 (95 download)
Book Synopsis Undersea Vehicles and National Needs by : Committee on Undersea Vehicles and National Needs
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Book Synopsis Autonomous Underwater Vehicles by : Jing Yan
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Book Synopsis Basic Design and Performance Analysis of an Inertial Navigation System for an Autonomous Underwater Vehicle by : Amol Khedkar
Download or read book Basic Design and Performance Analysis of an Inertial Navigation System for an Autonomous Underwater Vehicle written by Amol Khedkar and published by . This book was released on 1989 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design and Evaluation of an Integrated, Self-Contained GPS/INS Shallow- Water AUV Navigation System (SANS) by : Randy G. Walker
Download or read book Design and Evaluation of an Integrated, Self-Contained GPS/INS Shallow- Water AUV Navigation System (SANS) written by Randy G. Walker and published by . This book was released on 1996-06-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main problem addressed by this research is to find an alternative to the use of large and/or expensive equipment required by conventional navigation systems to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to advance an existing integrated navigation system prototype which combines Global Positioning System (GPS), Inertial Measurement Unit (IMU), water speed, and heading information using Kalman filtering techniques. The hardware and software architecture of the prototype system were advanced to a level such that it is completely self- contained in a relatively small, lightweight package capable of on-board processing of sensor data and outpouring updated position fixes at a rate of 10 Hz; an improvement from the 5 Hz rate delivered by the prototype. The major changes to the preceding prototype implemented by this research were to install an on-board processor to locally process sensor outputs, and improve upon the analog filter and voltage regulation circuitry. Preliminary test results indicate the newly designed SANS provides a 100% performance improvement over the previous prototype. It now delivers a 10Hz update rate, and increased accuracy due to the improved analog filter and the higher sampling rate provided by the processor.
Book Synopsis Underwater Vehicles by : George M. Roman
Download or read book Underwater Vehicles written by George M. Roman and published by Nova Science Publishers. This book was released on 2020 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--
