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Guidance And Control For Small Auvs Using Dgps And Doppler Aided Inertial Underwater Navigation
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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 A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing by : Chrystel Gelin
Download or read book A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing written by Chrystel Gelin and published by Springer Science & Business Media. This book was released on 2012-08-22 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion methods, for a USV to aid in navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP). While ADCPs non-intrusively measure water flow, the vessel motion needs to be removed to analyze the data and the system developed provides the motion measurements and processing to accomplish this task.
Book Synopsis Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles by : Francesco Fanelli
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.
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 Technology Survey and Preliminary Design for Small AUV Navigation System by : Robert B. McGhee
Download or read book Technology Survey and Preliminary Design for Small AUV Navigation System written by Robert B. McGhee and published by . This book was released on 1992 with total page 0 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.
Download or read book Aerospace America written by and published by . This book was released on 2002 with total page 724 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Analysis, Experimental Evaluation and Software Upgrade for Attitude Estimation by the Shallow-Water AUV Navigation System (SANS) by : Ricky L. Roberts
Download or read book Analysis, Experimental Evaluation and Software Upgrade for Attitude Estimation by the Shallow-Water AUV Navigation System (SANS) written by Ricky L. Roberts and published by . This book was released on 1997-03-01 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main problem addressed by this research is the lack of a small, low-cost integrated 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 utilized an evolving prototype, called the Shallow-Water AUV Navigation System (SANS), combining Global Positioning System (GPS), Inertial Measurement Unit (IMU), water speed, and magnetic heading information using Kalman, low-pass, and complimentary filtering techniques. In previous work, addition of a math coprocessor improved system update rate from 7 to 18 Hz, but revealed input/output coordination weaknesses in the software. The central focus of this thesis is on testing and programming improvements which resulted in reliable integrated operations and an increased processing speed of 40 Hz. This now allows the filter to perform in real time. A standardized tilt table evaluation and calibration procedure for the navigation filter also was developed. The system was evaluated in dynamic tilt table experiments. Test results and qualitative error estimates using differential GPS suggest that submerged navigation with SANS for a period of several minutes will result in position estimation errors typically on the order of 10 meters rms, even in the presence of substantial ocean currents.
Book Synopsis An Integrated INS/GPS Navigation System for Small AUVs Using an Asynchronous Kalman Filer by : Glenn C. Hernandez
Download or read book An Integrated INS/GPS Navigation System for Small AUVs Using an Asynchronous Kalman Filer written by Glenn C. Hernandez and published by . This book was released on 1998 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Small AUV Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated INS/GPS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost Inertial Measurement Unit (IMU) to navigate between intermittent GPS fixes. This thesis presents recent improvements to the SANS hardware and software. The 486-based ESP computer used in the previous version of SANS is now replaced by an AMD 586DX133 based PC/104 computer to provide more computing power, reliability and compatibility with PC/104 industrial standards. The previous SANS navigation filter consisting of a complementary constant gain filter is now aided by an asynchronous Kalman filter. This navigation filter has six states for orientation estimation (constant gain) and eight states for position estimation (Kalman filtered). Low- frequency DGPS noise is explicitly modeled based on an experimentally obtained autocorrelation function. Ocean currents are also modeled as a low-frequency random process. The asynchronous nature of GPS measurements resulting from AUV submergence or wave splash on the DGPS antennas is also taken into account by adopting an asynchronous Kalman filter as the basis for the SANS software. Matlab simulation studies of the asynchronous filter have been conducted and results documented in this thesis.
Book Synopsis Incorporation of GPS/INS Into Small Autonomous Underwater Vehicle Navigation by :
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.
Book Synopsis Correction of Inertial Measurements Using GPS Updates for Underwater Navigation by : Steve Nagengast
Download or read book Correction of Inertial Measurements Using GPS Updates for Underwater Navigation written by Steve Nagengast and published by . This book was released on 1992 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Long-Range Gravity-Aided Autonomous Underwater Vehicle Navigation by : Franz Heubach
Download or read book Long-Range Gravity-Aided Autonomous Underwater Vehicle Navigation written by Franz Heubach and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUV) are a mobile platform for underwater sensing, an environment relatively unexplored. Georeferencing measurements is difficult due to the challenge of AUV localization. The rapid attenuation of radio frequencies underwater restricts AUVs from using the global position system (GPS), the above-water solution to localization. Underwater localization relies on dead-reckoning, the integration of vehicle inertia measurements to arrive at a position estimate. However, the dead-reckoned position error is unbounded. This error can be bounded using a source of position feedback. Terrain aided navigation (TAN) - using georeferenced geophysical terrain maps can provide that feedback. TAN shows significant promise as a method for long-range, passive underwater AUV navigation, especially gravity-aided navigation (GAN). This thesis presents a TAN algorithm that uses a gravity gradiometer and gravity gradient maps to successfully limit dead-reckoning error by a factor of 25 over a 500 km long AUV mission, with a localization accuracy of 1 km. The TAN algorithm exploits the correlation between terrain and the gravity anomaly to use a global database of bathymetry maps (GEBCO) with 400 m resolution. The mission was simulated in the AUV navigation testbed (ANT), a collection of tooling developed during this thesis to accelerate research in TAN. Among the contributions made by the ANT, is a inertial navigation system (INS) that emulates the uncertainty characteristics of a commercial navigation grade INS (Kearfott Seanav) \textemdash~to simulate dead-reckoning error growth. Parts of the ANT have been released to the research community as open-source, and are being used by researchers in the Intelligent Systems Laboratory (ISL) at Dalhousie University.
Book Synopsis Guidance and Control of Underwater Vehicles 2003 (GCUV 2003) by : G. N. Roberts
Download or read book Guidance and Control of Underwater Vehicles 2003 (GCUV 2003) written by G. N. Roberts and published by Elsevier Science & Technology. This book was released on 2003 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains forty papers from the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles. The aim of the Workshop was to bring together academic practitioners and industrialists involved in this important and expanding area of interest in order to exchange experiences on recent advances in this field. Topics covered by the papers in this proceeding include UUV Control Applications, System Identification, UUV Architectures, Navigation, Modelling, Fault Detection and Reconfiguration. Contributors from Italy, Ireland, Japan, Portugal, Spain, Turkey, USA and the United Kingdom were represented at the workshop.The Workshop was voted a resounding success by all delegates and in the light of this vote of confidence the Technical Committee on Marine Systems is planning to run this event again in 2005, with the slightly amended title of Navigation, Guidance and Control of Underwater Vehicles
Book Synopsis Underwater & Out of Sight by : Nicholas R. Rypkema
Download or read book Underwater & Out of Sight written by Nicholas R. Rypkema and published by . This book was released on 2019 with total page 277 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Earth's oceans holds a wealth of information currently hidden from us. Effective measurement of its properties could provide a better understanding of our changing climate and insights into the creatures that inhabit its waters. Autonomous underwater vehicles (AUVs) hold the promise of penetrating the ocean environment and uncovering its mysteries; and progress in underwater robotics research over the past three decades has resulted in vehicles that can navigate reliably and operate consistently, providing oceanographers with an additional tool for studying the ocean. Unfortunately, the high cost of these vehicles has stifled the democratization of this technology. We believe that this is a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size. Secondly, deployment of these vehicles is expensive and unwieldy due to their complexity, size and cost, resulting in the need for specialized personnel for vehicle operation and maintenance. The recent development of simpler, low-cost, miniature underwater robots provides a solution that mitigates both these factors; however, removing the expensive DVL-aided INS means that they perform poorly in terms of navigation accuracy. We address this by introducing a novel acoustic system that enables AUV self-localization without requiring a DVL-aided INS or on-board active acoustic transmitters. We term this approach Passive Inverted Ultra-Short Baseline (piUSBL) positioning. The system uses a single acoustic beacon and a time-synchronized, vehicle-mounted, passive receiver array to localize the vehicle relative to this beacon. Our approach has two unique advantages: first, a single beacon lowers cost and enables easy deployment; second, a passive receiver allows the vehicle to be low-power, low-cost and small, and enables multi-vehicle scalability. Providing this new generation of small and inexpensive vehicles with accurate navigation can potentially lower the cost of entry into underwater robotics research and further its widespread use for ocean science. We hope that these contributions in low-cost underwater navigation will enable the ubiquitous and coordinated use of robots to explore and understand the underwater domain.
Book Synopsis Acoustic Underwater Navigation of the Phoenix Autonomous Underwater Vehicle Using the Divetracker System by : Arthur W. Scrivener
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.
Book Synopsis Autonomous Underwater Vehicle Guidance, Navigation, and Control by : Timothy Sands
Download or read book Autonomous Underwater Vehicle Guidance, Navigation, and Control written by Timothy Sands and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A considerable volume of research has recently blossomed in the literature on autonomous underwater vehicles accepting recent developments in mathematical modeling and system identification; pitch control; information filtering and active sensing, including inductive sensors of ELF emissions and also optical sensor arrays for position, velocity, and orientation detection; grid navigation algorithms; and dynamic obstacle avoidance among others. In light of these modern developments, this article develops and compares integrative guidance, navigation, and control methodologies for the Naval Postgraduate School,Äôs Phoenix, a submerged autonomous vehicle. The measure of merit reveals how well each of several methodologies cope with known and unknown disturbance currents that can be constant or harmonic while maintaining safe passage distance from underwater obstacles, in this case submerged mines.
Book Synopsis An Underwater Vehicle Navigation System Using Acoustic and Inertial Sensors by : Khalid M. Alzahrani
Download or read book An Underwater Vehicle Navigation System Using Acoustic and Inertial Sensors written by Khalid M. Alzahrani and published by . This book was released on 2018 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Underwater Vehicles (UUVs) have become an essential tool for different underwater tasks. Compared with other unmanned systems, the navigation and localization for UUVs are particularly challenging due to the unavailability of Global Positioning System (GPS) signals underwater and the complexity of the unstable environment. Alternative methods such as acoustic positioning systems, Inertial Navigation Systems (INS), and the geophysical navigation approach are used for UUV navigation. Acoustic positioning systems utilize the characteristics of acoustic signals that have a lower absorption rate and a more extended propagation distance than electromagnetic signals underwater. The significant disadvantage of the INS is the "drift," the unbounded error growth over time in the outputs. This thesis is aimed to study and test a combined UUV navigation system that fuses measurements from the INS, Doppler Velocity Log (DVL), and Short Baseline (SBL) acoustic positioning system to reduce the drift. Two Kalman filters are used to do the fusion: the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). After conducting the experiments and simulation, the results illustrated the INS/SBL fusion navigation approach was able to reduce the drift problems in the INS. Moreover, UKF showed a better performance than the EKF in the INS.
Book Synopsis Computer Vision Techniques for Underwater Navigation by : Christopher M. Barngrover
Download or read book Computer Vision Techniques for Underwater Navigation written by Christopher M. Barngrover and published by . This book was released on 2010 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the world of autonomous underwater vehicles (AUV) the prominent form of sensing has been sonar due to cloudy water conditions and dispersion of light. Although underwater conditions are highly suitable for sonar, this does not mean that vision techniques should be completely ignored. There are situations where visibility is high, such is in calm waters, and where light dispersion is not an issue, such as shallow water or near the surface. In addition, even when visibility is low, once a certain proximity to an object exists, visibility can increase. The focus of this project is this gap in capability for AUVs, with an emphasis on computer-aided detection through machine learning and computer vision techniques. All experimentation utilizes the Stingray AUV, a small and unique vehicle designed by San Diego iBotics. The first experiment is detection of an anchored buoy, which mimics the real world application of mine detection for the Navy. The second experiment is detection of a pipe, which mimics pipes in bays and harbors. The current algorithm for this application uses boosting machine learning on hue, saturation, value (HSV) to create a classifier followed by post processing techniques to clean the resulting binary image. There are many further applications for computer-aided detection and classification of objects underwater, from environmental to military.
