Identyfikatory
Warianty tytułu
Języki publikacji
Abstrakty
The ability to navigate a ROV to exact bottom locations or along a precise path is essential to many scientific and engineering tasks. Bottom and water column surveys along a precise and repeatable trajectory allow the monitoring of chemical and physical variables, and the study of sedimentation processes and biological phenomena. Precise navigation is also required for high-resolution synthetic sonar observations and for placement and retrieval of various devices on the bottom. This paper reviews principles behind acoustic navigation and provides a survey of commercially available Ultra-Short Baseline (USBL) navigation systems. A novel high precision navigation system is proposed that offers several advantages over the surveyed systems. Specifically, the precise position and trajectory of a ROV tethered by a cable to a bottom node is obtained using sensitive phase measurement of an acoustic signal. Proof of this concept through shallow-water and deep-water prototypes will be carried out shortly at the University of Victoria.
Słowa kluczowe
Czasopismo
Rocznik
Tom
Strony
255--264
Opis fizyczny
Bibliogr. 27 poz., rys., tab.
Twórcy
autor
- Department of Electrical Engineering, University of Victoria P.O. Box 3055, Victoria, B.C., Canada V8W 3P6
autor
- Department of Electrical Engineering, University of Victoria P.O. Box 3055, Victoria, B.C., Canada V8W 3P6
Bibliografia
- [1] J. J. Leonard, A. A. Bennett, C. M. Smith, H. J. S. Feder. Autonomous Underwater Vehicle Navigation. In MIT Marine Robotics Laboratory Technical Memorandum 98-1.
- [2] James C. Kinsey, Louis L. Whitcomb. Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submersibles. At http://www.robotics.me.jhu.edu/~llw/ps/03CEP.pdf.
- [3] Keith Vickery. Acoustic Positioning Systems - A Practical Overview of Current Systems. In Dynamic Positioning Conference, Oct. 13-14, 1998.
- [4] D. R. C. Philip. An Evaluation of USBL and SBL Acoustic Systems and the Optimization of Methods of Calibration - Part 1, 2, 3. Part 1: The Hydrographic Journal No. 108, Apr. 2003. Part 2: The Hydrographic Journal No. 109, July 2003. Part 3: The Hydrographic Journal No. 110, Oct. 2003.
- [5] M. Watson, C. Loggins, Y. T. Ochi. A New High Accuracy Super-Short Baseline (SSBL) System. In Proceedings of the 1998 International Symposium on Underwater Technology, pp. 210-215, 15-17 Apr. 1998.
- [6] D. Jourdan, B. Brown. Improved Navigation System for USBL Users. In Oceans '97. MTS/IEEE Conference Proceedings, v 1, pp. 727-735, 16-19 Oct. 1997.
- [7] D. Thomson, S. Elson. New Generation Acoustic Positioning Systems. In Oceans '02 MTS/IEEE Conference Proceedings, v 3, pp. 1312-1318, 29-31 Oct. 2002.
- [8] J.-P. Peyronnet, R. Person, F. Rybicki. POSIDONIA 6000: A New Long Range Highly Accurate Ultra Short Base Line Positioning System. In Oceans '98 Conference Proceedings, v 3, pp. 1721-1727, 27 Sept.-1 Oct. 1998.
- [9] Liu Hsu, Ramon R. Costa, Fernando Liza Rralde, Jose Paulo Vilela Soares da Cunha. Dynamic Positioning of Remotely Operated Underwater Vehicles. In IEEE Robotics & Automation Magazine, Sept. 2000.
- [10] S. M. Smith, D. Kronen. Experimental Results of an Inexpensive Short Baseline Acoustic Positioning System for AUV Navigation. In Oceans '97. MTS/IEEE Conference Proceedings, v 1, pp. 714-720, 6-9 Oct. 1997.
- [11] C. D. Edwards. Angular Navigation on Short Baselines Using Phase Delay Interferometry. In Instrumentation and Measurement, IEEE Transactions on, v 38, issue 2, pp. 665-667, Apr. 1989.
- [12] B. M. Bell, B. M. Howe, J. A. Mercer, R. C. Spindel. Nonlinear Kalman Filtering of LongBaseline, Short-Baseline, GPS, and Depth Measurements. In Signals, Systems and Computers, 1991. 1991 Conference Record of the Twenty-Fifth Asilomar Conference on, v 1, pp. 131-136, 4-6 Nov. 1991.
- [13] Gregory Nuttall. Underwater Tracking System for an Undersea Laboratory, ELEC 571 Course Project Technical Report, Dept. of Electrical and Computer Engineering, University of Victoria, Dec. 2004.
- [14] Scott Elson. The Use of ADS Technology to Optimize Channel Utilization. In Proceedings of 1993 Underwater Intervention Conference, available at http://www.nautronix.com/pdf/ADS2_TEC.pdf.
- [15] T. C. Austin. The Application of Spread Spectrum Signalling Techniques to Underwater Acoustic Navigation. In Autonomous Underwater Vehicle Technology, 1994, Proceedings of the 1994 Symposium on, pp. 443-449, 19-20 July 1994.
- [16] Li Zong-hua, Feng Dao-wang, Sun Zhong-kang, Zhou Yi-yu. Passive Location Using Time of Arrival along with Direction of Arrival and Its Changing Rate. In Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on, v 1, pp, 261-265, 8-13 Oct. 2003.
- [17] J. P. V. Soares da Cunha, R. R. Costa, L. Hsu, A. C. C. Meyer Sant'Anna. Short Range Position Measurement Systems for Underwater Vehicle Dynamic Positioning. In Oceans'93. Engineering in Harmony with Ocean. Proceedings, v 2, pp. II484-II489, 18-21 Oct. 1993.
- [18] D. Loebis, R Sutton, J. Chudley. Review of Multisensor Data Fusion Techniques and Their Application to Autonomous Underwater Vehicle Navigation. In Journal of Marine Engineering and Technology No. A1, 2002.
- [19] Ingemar Nygren, Magnus Jansson, Terrain Navigation for Underwater Vehicles Using the Correlator Method. In IEEE Journal of Oceanic Engineering, v 29, no. 3, July 2004.
- [20] Xavier Lurton. Swath Bathymetry Using Phase Difference: Theoretical Analysis of Acoustical Measurement Precision. In IEEE Journal of Oceanic Engineering, v 25, no. 3, pp. 351-363, July 2000.
- [21] Shahriar Negahdaripour, Xun Xu. Mosaic-Based Positioning and Improved MotionEstimation Methods for Automatic Navigation of Submersible Vehicles. In IEEE Journal of Oceanic Engineering, v 27, no. 1, pp. 79–99, Jan. 2002.
- [22] M. Blain, S. Lemieux, R. Houde. Implementation of a ROV Navigation System Using Acoustic/Doppler Sensors and Kalman Filtering. In Oceans 2003 Proceedings, v 3, pp. 1255-1260, 22-26 Sept. 2003.
- [23] Louis Whitcomb, Dana Yoerger, Hanumant Singh. Advances in Doppler-Based Navigation of Underwater Robotic Vehicles. In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, v 1, pp. 399-406, 10-15 May 1999.
- [24] R. Spindel, R. Porter, W. Marquet, J. Durham. A High-Resolution Pulse-Doppler Underwater Acoustic Navigation System. In Oceanic Engineering, IEEE Journal of, v 1, issue 1, pp. 6-13, Sept. 1976.
- [25] D. R. C. Philip. Developments in Deep Water Offshore Positioning. SUT Seminar “Advances in Survey Techniques,” Aberdeen, November 1998.
- [26] NEPTUNE, “About NEPTUNE,” [NEPTUNE Project Website] [cited 2004 Dec 7]. Available at http://www.neptunecanada.ca/about/index.html
- [27] Bruce M. Howe, James H. Miller. Integrated Acoustics Systems for Ocean Observatories. In Scientific Use of Submarine Cables and Related Technologies, 2003. The 3rd International Workshop on, pp. 51-56, 25-27 June 2003.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWM8-0034-0033