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A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing (Paperback, 2013 ed.)
Loot Price: R3,070
Discovery Miles 30 700
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A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing (Paperback, 2013 ed.)
Series: Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping, 1
Expected to ship within 10 - 15 working days
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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.
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