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A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

Part of the Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping Book Series (volume 1)

DOI: 10.1007/978-3-642-32015-6

ISBN: 978-3-642-32014-9

Publisher: Springer Berlin Heidelberg - Springer Journals

Jan 1, 2013

1 - 6 of 6 Chapters

LitStream

Chapter 1Introduction

Gelin, Chrystel

Pages: 1 –6

[Unmanned Surface Vehicles (USVs) are self contained unmanned untethered vessels that can transit on the surface of the water autonomously or through remote control. Unlike conventional manned surface vessels that are usually large and costly to build and operate, USVs are typically smaller in...
LitStream

Chapter 2Instrumentation and Data Acquisition System

Gelin, Chrystel

Pages: 7 –18

[Guidance and control of an autonomous vehicle requires measurement of its position and motion. To this end, the USV is equipped with instruments that include an Acoustic Doppler Current Profiler (ADCP), Inertial Measurement Unit (IMU), compass, tilt sensor, and Differential Global Positioning...
LitStream

Chapter 3Data Processing

Gelin, Chrystel

Pages: 19 –35

[The methods developed in this book are used to calculate high rate position and orientation states of a moving body relative to the earth using a comprehensive sensor suite. Unfortunately, the different sensors move relative to each other and measure quantities along different, uncoupled axes....
LitStream

Chapter 4Motion Observation and Experimental Results

Gelin, Chrystel

Pages: 37 –60

[This chapter details the experiments used to choose the best data fusion point (Ωc) to obtain the full frequency measure of the ships velocity, VE, and its position, ηE. The first experiment investigates properties of the vertical NED acceleration and different methods available to obtain the...
LitStream

Chapter 5At Sea Experiment of Data Acquisition System

Gelin, Chrystel

Pages: 61 –84

[This chapter presents the mission at sea conducted for the observation of the motion data acquisition system measurements in the field as well as the collection and correction of unreferenced ADCP data.]
LitStream

Chapter 6Conclusion

Gelin, Chrystel

Pages: 85 –92

[Unmanned Surface Vehicles (USVs) are self contained unmanned untethered vessels that can transit on the surface of the water autonomously or through remote control. FAU has designed a multi-purpose oceanographic and GATEWAY USV that is a low cost mobile surface platform. Since standard GPS...

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