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.
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1992 with total page 1602 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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.
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-04-16 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz
Download or read book Ship Hydrostatics and Stability written by Adrian Biran and published by Butterworth-Heinemann. This book was released on 2013-10-17 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ship Hydrostatics and Stability is a complete guide to understanding ship hydrostatics in ship design and ship performance, taking you from first principles through basic and applied theory to contemporary mathematical techniques for hydrostatic modeling and analysis. Real life examples of the practical application of hydrostatics are used to explain the theory and calculations using MATLAB and Excel. The new edition of this established resource takes in recent developments in naval architecture, such as parametric roll, the effects of non-linear motions on stability and the influence of ship lines, along with new international stability regulations. Extensive reference to computational techniques is made throughout and downloadable MATLAB files accompany the book to support your own hydrostatic and stability calculations. The book also includes definitions and indexes in French, German, Italian and Spanish to make the material as accessible as possible for international readers. - Equips naval architects with the theory and context to understand and manage ship stability from the first stages of design through to construction and use. - Covers the prerequisite foundational theory, including ship dimensions and geometry, numerical integration and the calculation of heeling and righting moments. - Outlines a clear approach to stability modeling and analysis using computational methods, and covers the international standards and regulations that must be kept in mind throughout design work. - Includes definitions and indexes in French, German, Italian and Spanish to make the material as accessible as possible for international readers.
Download or read book Testing and Evaluation of the Small Autonomous Underwater Vehicle Navigation System SANS written by Suat Arslan and published by . This book was released on 2000-03-01 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) was developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring The objective of this thesis is to test and evaluate the SANS performance after tuning the filter gains through a series of testing procedures. The new version of SANS (SANS III) used new hardware components which were smaller, cheaper, and more reliable. A PC/l O4 computer provided more computing power and, increased the reliability and compatibility of the system. Implementing an asynchronous Kalman filter in the position and velocity estimation part of the navigation subsystem improved the navigation accuracy significantly. To determine and evaluate the overall system performance, ground vehicle testing was conducted. Test results showed that the SANS III was able to navigate within + 15 feet of Global Positioning track with no Global Positioning update for three minutes.
Download or read book Global Positioning Systems Inertial Navigation and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2007-03-05 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-07-13 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Download or read book The Global Positioning System written by Aeronautics and Space Engineering Board and published by National Academies Press. This book was released on 1995-06-14 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Global Positioning System (GPS) is a satellite-based navigation system that was originally designed for the U.S. military. However, the number of civilian GPS users now exceeds the military users, and many commercial markets have emerged. This book identifies technical improvements that would enhance military, civilian, and commercial use of the GPS. Several technical improvements are recommended that could be made to enhance the overall system performance.
Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.
Download or read book Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance written by Robert Bodor and published by . This book was released on 1996 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Fundamentals of Inertial Navigation Satellite based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-26 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.
Download or read book Ships and Shipping of Tomorrow written by Rolf Schönknecht and published by Cornell Maritime Press/Tidewater Publishers. This book was released on 1983 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Resource added for the Marine Engineering Technology program 104481 and Marine Construction program 314481.
Download or read book Mobile Robot Localization and Map Building written by Jose A. Castellanos and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.
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.
