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Author : David Joel Chen
Publisher :
ISBN 13 :
Total Pages : 92 pages
Book Rating : 4.:/5 (27 download)
Download or read book Designing an Ultrashort Baseline Navigation System for an Autonomous Underwater Vehicle written by David Joel Chen and published by . This book was released on 1992 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Cara Elizabeth Grupe LaPointe
Publisher :
ISBN 13 :
Total Pages : 188 pages
Book Rating : 4.:/5 (768 download)
Download or read book Virtual Long Baseline (VLBL) Autonomous Underwater Vehicle Navigation Using a Single Transponder written by Cara Elizabeth Grupe LaPointe and published by . This book was released on 2006 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Acoustic long baseline (LBL) navigation systems are often used for precision underwater vehicle navigation. LBL systems triangulate the position of the vehicle by calculating the range between the vehicle and multiple transponders with known locations. A typical LBL system incorporates between two and twelve acoustic transponders. The vehicle interrogates the beacons acoustically, calculates the range to each beacon based on the roundtrip travel time of the signal, and uses the range data from two or more of the acoustic transponders at any point in time to determine its position. However, for accurate underwater navigation, the location of each deployed transponder in the array must be precisely surveyed prior to conducting autonomous vehicle operations. Surveying the location of the transponders is a costly and time-consuming process, especially in cases where underwater vehicles are used in mapping operations covering a number of different locations in succession. During these extended mapping operations, the transponders need to be deployed, surveyed, and retrieved in each location, adding significant time and, consequently, significant cost to any operation.
Author : Peter T. Obuchowski
Publisher :
ISBN 13 :
Total Pages : 360 pages
Book Rating : 4.:/5 (579 download)
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:
Author : Amol Khedkar
Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.:/5 (232 download)
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:
Author : Robert B. McGhee
Publisher :
ISBN 13 :
Total Pages : 55 pages
Book Rating : 4.:/5 (64 download)
Download or read book NPS-CS-92-001 written by Robert B. McGhee and published by . This book was released on 1992 with total page 55 pages. Available in PDF, EPUB and Kindle. Book excerpt: Navigation of an Autonomous Underwater Vehicle (AUV) is a problem that has not been adequately solved. Although the inclusion of the Global Positioning System (GPS) into AUV navigation has been briefly examined before, this possibility is explored further in this report. GPS and Inertial Measurement System (INS) based navigation package offers many advantages for AUV navigation especially for transit and precise object location in shallow water. This report provides background information on GPS and INS as they pertain to small AUV employment. Other required components are also examined as they pertain to small AUV employment. The use of the GPS/INS navigation package for AUV transits and precise object location work is presented. Two preliminary Small AUV Navigation System (SANS) designs with specified components are developed. GPS, INS, IMV, Navigation, AUV missions Computer System Hardware, Real-Time Software.
Author :
Publisher :
ISBN 13 :
Total Pages : 60 pages
Book Rating : 4.:/5 (227 download)
Download or read book Incorporation of GPS/INS Into Small Autonomous Underwater Vehicle Navigation written by and published by . This book was released on 1992 with total page 60 pages. Available in PDF, EPUB and Kindle. Book excerpt: Navigation of an Autonomous Underwater Vehicle (AUV) is a problem that has not been adequately solved. Although the inclusion of the Global Positioning System (GPS) into AUV navigation has been briefly examined before, this possibility is explored further in this thesis. GPS and Inertial Measurement System (INS) based navigation package offers many advantages for AUV navigation especially for transits and precise object location in shallow water. This thesis provides background information on GPS and INS as they pertain to small AUV employment. Other required components are also examined as they pertain to small AUV employment. The use of the GPS/INS navigation package for AUV transits and precise object location work is presented. Two designs with specified components are developed. A GPS receiver was tested for AUV employment suitability. These test results are presented and analyzed. Autonomous underwater vehicles, Global positioning system, Inertial measurement system.
Author :
Publisher :
ISBN 13 :
Total Pages : 9 pages
Book Rating : 4.:/5 (946 download)
Download or read book Sequential, Long Baseline Navigation for REMUS, An Autonomous Underwater Vehicle written by and published by . This book was released on 2001 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many of the problems of operating an AUV (autonomous underwater vehicle) can be reduced to one of navigation: How accurately do you know where you are? Navigational precision determines the ability to follow truck lines, the ability to map a target to world coordinates, and ultimately, even determines the areas where you ore willing to operate the vehicle. This paper presents the technique used for long baseline acoustic navigation by REMUS (Remote Environmental Measuring Units), a low cost AUV developed by the Oceanographic Systems Laboratory (OSL) of the Woods Hole Oceanographic Institution. Adopting the traditional long base line approach to this vehicle presents a complex problem because it must be low power, low cost and small in size, and in addition must work in a shallow water environment. The REMUS system uses a single data acquisition system and DSP to interrogate and receive multiple transponders in a sequential manner. It uses spread spectrum technology which reduces the impact of multi-path in the shallow water environment. A moored pair of acoustic transponders whose coordinates are determined using differential or P-code GPS allow the vehicle to navigate in world coordinates. The DSP minimizes the hardware requirements, thus lowering the associated hardware cost, size, and complexity. This paper describes the techniques used and provides results of this system using frequencies in the 20-30 khz band, giving a range of up to 1500 meters in water 4 meters deep, and also 10-15 khz band, giving a range of up to 7000 meters in waters 14 meters deep.
Author : Weicheng Cui
Publisher : Springer Nature
ISBN 13 : 9811069468
Total Pages : 2203 pages
Book Rating : 4.8/5 (11 download)
Download or read book Encyclopedia of Ocean Engineering written by Weicheng Cui and published by Springer Nature. This book was released on 2022-06-29 with total page 2203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This encyclopedia adopts a wider definition for the concept of ocean engineering. Specifically, it includes (1) offshore engineering: fixed and floating offshore oil and gas platforms; pipelines and risers; cables and moorings; buoy technology; foundation engineering; ocean mining; marine and offshore renewable energy; aquaculture engineering; and subsea engineering; (2) naval architecture: ship and special marine vehicle design; intact and damaged stability; technology for energy efficiency and green shipping; ship production technology; decommissioning and recycling; (3) polar and Arctic Engineering: ice mechanics; ice-structure interaction; polar operations; polar design; environmental protection; (4) underwater technologies: AUV/ROV design; AUV/ROV hydrodynamics; maneuvering and control; and underwater-specific communicating and sensing systems for AUV/ROVs. It summarizes the A–Z of the background and application knowledge of ocean engineering for use by ocean scientists and ocean engineers as well as nonspecialists such as engineers and scientists from all disciplines, economists, students, and politicians. Ocean engineering theories, ocean devices and equipment, ocean design and operation technologies are described by international experts, many from industry and each entry offers an introduction and references for further study, making current technology and operating practices available for future generations to learn from. The book also furthers our understanding of the current state of the art, leading to new and more efficient technologies with breakthroughs from new theory and materials. As the land resources approach the exploitation limit, ocean resources are becoming the next choice for the sustainable development. As such, ocean engineering is vital in the 21st century.
Author : Jing Yan
Publisher : Springer Nature
ISBN 13 : 9811660964
Total Pages : 222 pages
Book Rating : 4.8/5 (116 download)
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.
Author : Antoine Bon
Publisher :
ISBN 13 :
Total Pages : 300 pages
Book Rating : 4.:/5 (227 download)
Download or read book Motion Compensation of an Ultra Short Baseline Array for the Positioning of an Underwater Vehicle for Port Operations written by Antoine Bon and published by . This book was released on 2007 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Francesco Fanelli
Publisher : Springer
ISBN 13 : 303015596X
Total Pages : 97 pages
Book Rating : 4.0/5 (31 download)
Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Author : Neil Harvey Kussat
Publisher :
ISBN 13 :
Total Pages : 162 pages
Book Rating : 4.:/5 (318 download)
Download or read book Absolute Positioning of an Autonomous Underwater Vehicle Using GPS and Coustic Measurements written by Neil Harvey Kussat and published by . This book was released on 2004 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Wade H. Shafer
Publisher : Springer Science & Business Media
ISBN 13 : 1461524539
Total Pages : 391 pages
Book Rating : 4.4/5 (615 download)
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 391 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 though 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 dissemi nation. 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 37 (thesis year 1992) a total of 12,549 thesis titles from 25 Canadian and 153 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 37 reports theses submitted in 1992, on occasion, certain uni versities do report theses submitted in previous years but not reported at the time.
Author : Eric R. Bachmann
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (64 download)
Download or read book Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation written by Eric R. Bachmann and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major problem addressed by this research is the large and/or expensive equipment required by a conventional navigation system 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 prototype an integrated navigation system which combines Global Positioning System (OPS) and Inertial Measurement Unit (IMU), waterspeed and heading information using Kalman filtering techniques. Actual implementation was preceded by a computer simulation to test where the unit would fit into a larger hardware and software hierarchy of an AUV. The system was then evaluated in experiments which began with land based cart tests and progressed to open water trials where the unit was placed in a towed body behind a boat and alternately submerged and surfaced to provide periodic OPS updates to the Inertial Navigation System (INS). Test results and qualitative error estimates indicate that submerged navigation accuracy comparable to that of differential OPS may be attainable for periods of 30 seconds or more with low cost components of a small physical size.
Author : Arthur W. Scrivener
Publisher :
ISBN 13 : 9781423575337
Total Pages : 92 pages
Book Rating : 4.5/5 (753 download)
Download or read book Acoustic Underwater Navigation of the Phoenix Autonomous Underwater Vehicle Using the Divetracker System written by Arthur W. Scrivener and published by . This book was released on 1996-03-01 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) require a navigation system in order to conduct useful functions. This research was an experimental investigation of the commercial DiveTracker underwater acoustic navigation system used onboard the NPS Phoenix AUV. Tests conducted with the DiveTracker system proved that the system could be used successfully in AUV navigation while submerged and revealed that more precise positioning could be obtained through postconditioning of the DiveTracker output ranges, rather than prefiltering.
Author : Gwladys Piton
Publisher :
ISBN 13 : 9781423542896
Total Pages : 81 pages
Book Rating : 4.5/5 (428 download)
Download or read book Design and Evaluation of a Differential Global Positioning System (DGPS) for the NPS Autonomous Underwater Vehicle (AUV) written by Gwladys Piton and published by . This book was released on 1999-08-01 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: Accurate underwater positioning remains an important challenge to AUV researchers. Recent development of Differential Global Positioning System (DGPS) embedded in an AUV proved the capability of DGPS fixes to reduce the position error. By surfacing regularly, the AUV takes DGPS fixes and integrates them for position estimation. The purpose of this study is to develop a low-cost DGPS for the NPS AUV. To match mission requirements, the system is designed such that the differential receiver and the GPS receiver are two independent stations using radio modems to communicate. Local experimental testing showed that this system can yield positions within one to five meters accuracy.
Author : Junku Yuh
Publisher : Tsi Press
ISBN 13 :
Total Pages : 384 pages
Book Rating : 4.0/5 ( download)
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
