The Autonomous Conductivity-Temperture Vehicle: First in the Seashuttle Family of Autonomous Underwater Vehicle's for Scientific Payloads

Proceedings OCEANS Pub Date : 1989-09-18 DOI:10.1109/OCEANS.1989.586683

R. Light, J. Morison

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引用次数: 15

Abstract

The Mark 38 miniature, mobile, sonar target, originally developed for the Navy in 1973 as an expendable training aid for sonar operators, has been redesigned and reconfigured as a robotic underwater vehicle to carry scientific instruments for ocean research. The basic vehicle, named the SEASI-IUTTLE, is nominally 132 cm long, 8.9 cm in diameter and houses a microprocessor controlled guidance system that allows the vehicle to actively position its elevators and rudders in response to data from heading, pitch, roll, and pressure sensors. The vehicle can be programmed to follow complicated prescribed courses of action in five modes of operation: launch, mission, recovery, homing and homing search. It has a nominal speed of 4 kts, an endurance of 2 hrs, and depth tolerance to 250m. The vehicle is equipped with a homing system that returns it to an acoustic beacon, usually deployed at its launch point, at the end of its mission. The SEASHUTTLE provides power and control via a serial interface for instrumentation packages. The SEASHUTTLE has been fitted with a SeaBird CTD for measurements beneath the Arctic ice pack.

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自主电导率-温度车辆:第一在海梭系列自主水下车辆的科学有效载荷

Mark 38微型、移动、声纳目标，最初是在1973年为海军开发的，作为声纳操作员的消耗性训练辅助设备，已经被重新设计和重新配置为一个机器人水下航行器，用于海洋研究携带科学仪器。基本车辆，命名为seasi - ilittle，名义上长132厘米，直径8.9厘米，装有一个微处理器控制的制导系统，允许车辆根据航向、俯仰、滚转和压力传感器的数据主动定位其升降机和方向舵。该运载工具可以在五种操作模式中按照复杂的规定行动路线进行编程:发射、任务、回收、寻的和寻的搜索。它的标称速度为4节/小时，续航时间为2小时，深度公差为250米。该运载工具配备了一个制导系统，可以在任务结束时将其返回到一个声学信标，通常部署在其发射点。SEASHUTTLE通过仪表包的串行接口提供电源和控制。“海鸟号”配备了海鸟CTD，用于测量北极冰层下的冰层。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings OCEANS

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