By Chrystel Gelin

ISBN-10: 3642320147

ISBN-13: 9783642320149

ISBN-10: 3642320155

ISBN-13: 9783642320156

Dead-Reckoning aided with Doppler pace dimension has been the most typical strategy for underwater navigation for small cars. regrettably DR calls for widespread place recalibrations and underwater automobile navigation platforms are restricted to periodic place replace once they floor. ultimately normal international Positioning procedure (GPS) receivers are not able to supply the speed or precision required while used on a small vessel. to beat this, a budget friendly excessive expense movement size method for an Unmanned floor motor vehicle (USV) with underwater and oceanographic reasons is proposed. The proposed onboard procedure for the USV contains an Inertial dimension Unit (IMU) with accelerometers and price gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all of the sensors proved relatively difficult due to their diversified features. The proposed info fusion process integrates the sensors and develops an embeddable software program package deal, utilizing actual time facts fusion tools, for a USV to help in navigation and keep an eye on in addition to controlling an onboard Acoustic Doppler present Profiler (ADCP). whereas ADCPs non-intrusively degree water circulate, the vessel movement has to be got rid of to investigate the information and the method built presents the movement measurements and processing to complete this job.

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Three methods are evaluated for obtaining vertical velocity from acceleration data. The first method integrates numerically the acceleration measurement using the cumulative summation (Matlab function cumsum) of the signal over the sampling frequency. The low frequency contamination is then removed using the Matlab function detrend considering the low frequency contamination from the integration as a linear trend. The second method numerically integrates the acceleration measurement then applies a high-pass filter to the obtained velocity signal.

A VGA card can be installed when needed, to facilitate software debugging. 3 USV Hardware Layout The instrumentation and data acquisition package consists of a central computer that is connected to five independent instruments, each of which has its own unique preprocessing equipment and data format (Figure 14). The MotionPack produces analog voltage signals that are filtered by a bank of DP68 Low-Pass Filters (Cutoff Frequency at 50Hz) prior to being input into the analog to digital converter and sampled at 128Hz.

24 Comparison between the low frequency estimates of Euler angle obtained from the IMU (blue) and from the Tilt sensor (red). (a) ( (b)) The TCM2 compass provides a direct measure of the yaw Euler angle, , but similar to the tilt sensors, it also has a finite response time and sudden changes in heading cannot be directly measured with this instrument. Thus, only the lowfrequency yaw signal is useful and the low-frequency estimate of , , is obtained by applying a 1st order Butterworth low-pass filter to the compass heading, with a cut-off frequency of 1Hz.

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


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