Download or read book The Experimental Evaluation of a DGPS Based Navigation System for the ARIES AUV written by Benjamin M. Stinespring and published by . This book was released on 2000-06 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUV) currently use varying methods for navigation, but incorporating GPS into those methods is becoming a popular technique. This thesis experimentally evaluates the configuration and implementation of the Navigational Suite within the Naval Postgraduate School's AUV, the ARIES (Acoustic Radio Interactive Exploratory Server). Specific attention is given to the configuration of the vehicle's newly completed DGPS (Differential Global Positioning System). A brief discussion of DGPS and Extended Kalman Filter theory continues with a description of the make-up and applications of components within the Suite. Details of a series of experiments, which begins with evaluation of the DGPS setup, then qualifies the system in an open-water environment, and finally qualifies the DGPS in conjunction with newly configured ARIES Navigational Filter, provide an examination of the Suite's performance.
Download or read book The Experimental Evaluation of a DGPS Based Navigational System for the ARIES AUV written by Benjamin M Stinespring and published by . This book was released on 2000 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Experimental Evaluatation of a DGPS Based Navigational System for the ARIES AUV written by Benjamin M. Stinespring and published by . This book was released on 2000 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUV) currently use varying methods for navigation, but incorporating GPS into those methods is becoming a popular technique. This thesis experimentally evaluates the configuration and implementation of the Navigational Suite within the Naval Postgraduate School's AUV, the ARIES (Acoustic Radio Interactive Exploratory Server). Specific attention is given to the configuration of the vehicle's newly completed DGPS (Differential Global Positioning System). A brief discussion of DGPS and Extended Kalman Filter theory continues with a description of the make-up and applications of components within the Suite. Details of a series of experiments, which begins with evaluation of the DGPS setup, then qualifies the system in an open-water environment, and finally qualifies the DGPS in conjunction with newly configured ARIES Navigational Filter, provide an examination of the Suite's performance.
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 Analysis and Tuning of a Low Cost Inertial Navigation System in the ARIES AUV written by Steven R. Vonheeder and published by . This book was released on 2006 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicle navigation is a complex problem of state estimation. Accurate navigation is made difficult due to a lack of reference navigation aids or use of the Global Positioning System (GPS) that could establish the vehicles position. Accurate navigation is critical due to the level of autonomy and range of missions and environments into which an underwater vehicle may be deployed. Navigational accuracy depends not only on the initialization and drift errors of the low cost Inertial Motion Unit (IMU) gyros and the speed over ground sensor, but also on the performance of the sensor fusion filter used. This thesis will present the method by which an Extended Kalman Filter (EKF) was tuned after installation of an IMU in the ARIES Autonomous Underwater Vehicle. The goal of installing the IMU, analyzing the navigational results and tuning the EKF was to achieve navigational accuracy in the horizontal plane with a position error of less than one percent of distance traveled when compared to GPS. The research consisted of IMU installation and software modifications within the vehicle to fully realize the design goal. Data collection and analysis was conducted through field experiments and computer simulation. A significant result of this work was development of a pseudo-adaptive algorithm to vary the measurement noise values in selected channels to for a desired response in the filter and improve accuracy and precision in the state estimates.
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 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.
Download or read book ARIES Navigation System Accuracy and Track Following written by Thanh V. Nguyen and published by . This book was released on 2002-03-01 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the greatest challenges associated with the Autonomous Underwater Vehicle (AUV) is reliability, accuracy, and the high precision navigation system for its submerged operations. Data collected for later analysis can be meaningful if and only if, the precise location of the vehicle is known at the time the information is recorded. A reliable AUV must be able to determine its global position in the absence of external transmitting devices. Dead reckoning is unreliable because of current conditions and random errors in the the velocity measurement that can be integrated and propagated in position calculations for long distance submerged travel. The alternative is the optimal integration of all available organic vehicle sensors to determine vehicle position. This requires the Kalman filtering method which merges all available vehicle sensors to estimate position. The AUV ARIES was operated in the Azores from August 10-12, 2001. All information were recorded and transferred into several files for all the mission runs during the exercise. This thesis investigated the accuracy of the Kalman filter navigation system during those runs. The thesis also examines the actual vehicle tracks during the experiment with both the design tracks and the model prediction tracks built using a simulation of the vehicle track following behavior.
Download or read book 2484 written by and published by . This book was released on 1941 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 222 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.
Download or read book Development of an Experimental Global Positioning System GPS Receiver Platform for Navigation Algorithm Evaluation written by Jonathan M. Hill and published by . This book was released on 2001 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Download or read book Trends in Intelligent Robotics Automation and Manufacturing written by S.G. Poonambalam and published by Springer. This book was released on 2012-11-28 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the First International Conference on Intelligent Robotics and Manufacturing, IRAM 2012, held in Kuala Lumpur, Malaysia, in November 2012. The 64 revised full papers included in this volume were carefully reviewed and selected from 102 initial submissions. The papers are organized in topical sections named: mobile robots, intelligent autonomous systems, robot vision and robust, autonomous agents, micro, meso and nano-scale automation and assembly, flexible manufacturing systems, CIM and micro-machining, and fabrication techniques.
Download or read book Experimental Acoustic Inversion Methods for Exploration of the Shallow Water Environment written by Andrea Caiti and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, research on acoustic remote sensing of the ocean has evolved considerably, especially in studying complex physical and biological processes in shallow water environments. To review the state of the art, an international workshop was held at Carvoeiro, Portugal, in March 1999, bringing together leading international researchers in the field. In contrast to much of the recent theoretical work, emphasis was placed on the experimental validation of the techniques. This volume, based on presentations at this workshop, summarizes a range of diverse and innovative applications. The invited contributions explore the use of acoustics to measure bottom properties and morphology, as well as to probe buried objects within the sediment. Within the water column, sound is applied to imaging of oceanographic features such as currents and tides or monitoring of marine life. Another key theme is the use of sound to solve geometric inverse problems for precise tracking of undersea vehicles. Audience: This volume should be useful both to the novice seeking an introduction to the field and to advanced researchers interested in the latest developments in acoustic sensing of the ocean environment. The workshop was sponsored by the Fundação para a Ciêcia e a Tecnologia (Portuguese Foundation for Science and Technology).
Download or read book Submarine Power Cables written by Thomas Worzyk and published by Springer Science & Business Media. This book was released on 2009-08-11 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The demand for high-performance submarine power cables is increasing as more and more offshore wind parks are installed, and the national electric grids are interconnected. Submarine power cables are installed for the highest voltages and power to transport electric energy under the sea between islands, countries and even continents. The installation and operation of submarine power cables is much different from land cables. Still, in most textbooks on electrical power systems, information on submarine cables is scarce. This book is closing the gap. Different species of submarine power cables and their application are explained. Students and electric engineers learn on the electric and mechanic properties of submarine cables. Project developers and utility managers will gain useful information on the necessary marine activities such as pre-laying survey, cable lay vessels, guard boats etc., for the submarine cable installation and repair. Investors and decision makers will find an overview on environmental aspects of submarine power cables. A comprehensive reference list is given for those who want further reading.
Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Download or read book Guidelines for the Design Operation and Maintenance of Multi Buoy Moorings written by Oil Companies International Marine Forum and published by Amer Nautical Services. This book was released on 2010 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt:
