Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)最新文献

Incorporating environmental measurements in navigation 在航行中纳入环境测量

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744447

H. Feder, J. Leonard, C.M. Smith

引用次数: 16

Making difficult decisions autonomously: the impact of integrated mapping and navigation 自主做出困难的决定:集成地图和导航的影响

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744448

Christopher M Smith, J. Leonard, Hans Jacob, S. Feder

{"title":"Making difficult decisions autonomously: the impact of integrated mapping and navigation","authors":"Christopher M Smith, J. Leonard, Hans Jacob, S. Feder","doi":"10.1109/AUV.1998.744448","DOIUrl":"https://doi.org/10.1109/AUV.1998.744448","url":null,"abstract":"The role of navigation is changing. The forces of increased autonomy, less prior knowledge, and larger missions are extending the navigation problem from the requirement of absolute localization to the larger question of context determination. Current technologies are inadequate in the face of such circumstances. The key to an evolved navigation technology begins with the ability to reason, in an integrated way, about the models used to determine vehicle context: physical models, dynamic models, sensor models, and behavior models. The integrated mapping and localization (IMAN) algorithm provides a hybrid estimation scheme to integrate decision-making about navigation events with navigation and mapping. An overview of IMAN is presented, along with an initial analysis of its performance. While IMAN is sensitive to the complexity of ambiguous situations, the algorithm demonstrates superior performance when complexity does not lead to failure. These results are used to examine the emerging set of technological needs for advanced navigation and mapping applications, including map representation, multiscale modeling, map fusion, and cross-model correlation.","PeriodicalId":291247,"journal":{"name":"Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123540853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

The Doppler inertial acoustic system for littoral navigation (DIAS) 多普勒滨海导航惯性声系统(DIAS)

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744436

G. Trimble

{"title":"The Doppler inertial acoustic system for littoral navigation (DIAS)","authors":"G. Trimble","doi":"10.1109/AUV.1998.744436","DOIUrl":"https://doi.org/10.1109/AUV.1998.744436","url":null,"abstract":"The Doppler inertial acoustic system (DIAS) is a compact, low-power, inertially-aided Doppler velocity navigation system which was developed to enhance the navigation capabilities of an unmanned underwater vehicle (UUV) in search, reacquisition, and inspection applications. Based on experience gained in the employment of long-baseline acoustic navigation approach using the divers acoustic navigation system (DANS) in support of the explosive ordnance disposal remote work packages program (EODRWP), DIAS provides for navigation of small subsea vehicles operating in shallow water without requiring reliance on external reference points reducing operational complexity. The primary navigation components in DIAS include a recently developed high-frequency (1200 kHz) Doppler velocity log and a relatively low-cost, low-power, miniature solid-state inertial package. Sensor data collection, prefiltering and integration is accomplished using a low-power digital signal processor (DSP) based single board computer (SBC) resulting in a system that requires less than 14 Watts power dissipation. Data is integrated using Kalman filtering techniques reducing long term errors introduced by the Doppler and short-term errors introduced by the inertial sensors. The paper describes DIAS development and testing and contrasts the accuracies of the developed system versus the previously employed long-baseline approach. The integration of DIAS within the EODRWP and at-sea employment using the Cetus AUV completes the paper.","PeriodicalId":291247,"journal":{"name":"Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)","volume":"347 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113958559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Acoustic positioning systems. A practical overview of current systems 声学定位系统。当前系统的实用概述

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744434

Keith Vickery

引用次数: 203

Demonstration of a vision-based dead-reckoning system for navigation of an underwater vehicle 用于水下航行器导航的基于视觉的航位推算系统演示

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744454

A. Huster, S. D. Fleischer, S. Rock

引用次数: 26

3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping 基于海底图像的三维运动和深度估计，用于rov / auv的马赛克站保持和导航以及高分辨率海底测绘

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744455

S. Negahdaripour, X. Xu, A. Khamene, Z. Awan

引用次数: 44

Characteristics of a small low cost inertial measurement unit 一种小型低成本惯性测量装置的特点

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744443

D. Murphy

{"title":"Characteristics of a small low cost inertial measurement unit","authors":"D. Murphy","doi":"10.1109/AUV.1998.744443","DOIUrl":"https://doi.org/10.1109/AUV.1998.744443","url":null,"abstract":"The HG1700 Inertial Measurement Unit (IMU) was developed to provide low cost inertial measurement products for air-to-air missiles and air-to-surface weapons. The HG1700 IMU uses low cost miniature tactical grade ring laser gyros and linear accelerometer inertial sensors. Since the IMU was initially introduced as a production item in 1994, it has been selected by each Department of Defense service for a variety of applications, including; missiles, munitions, unmanned aerial vehicles, air targets, and unmanned underwater vehicles. Many of the applications are in Engineering and Manufacturing Development program phases so available test results are current and impressive. The HG1700 IMU is designed to use a common hardware configuration with software that can be modified to meet application specific requirements. Software modifications generally include interface protocol, data rate output and frequency response characteristics. This paper provides a history of the need for the HG1700 IMU, a summary of current applications using the HG1700 IMU and a review of recent test results. A technical overview and interface description are also included.","PeriodicalId":291247,"journal":{"name":"Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124973547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Trends in acoustic velocity log technology at RD Instruments RD仪器声学速度测井技术的发展趋势

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744444

J. Young, F. Rowe, B. Brumley, S. Bradley

{"title":"Trends in acoustic velocity log technology at RD Instruments","authors":"J. Young, F. Rowe, B. Brumley, S. Bradley","doi":"10.1109/AUV.1998.744444","DOIUrl":"https://doi.org/10.1109/AUV.1998.744444","url":null,"abstract":"RD Instruments (RDI) has been the leading manufacturer of acoustic Doppler current profilers (ADCP) for many years. Sales of our products for use primarily as navigation sonars or Doppler velocity logs (DVL) have been limited until recently by issues of size, weight, and cost. In 1995, RDI introduced the Workhorse product line which dramatically reduced the size, weight, and cost of ADCPs. This was followed closely by the Navigator DVLs which are based on the same technology. The Navigators have received an excellent reception by the small AUV community and are in use on many of the prominent vehicles in the world today. In addition to AUV builders, the ROV community is beginning to discover the value of incorporating a DVL into the vehicle's navigation and control system. In this paper, we discuss some of the applications in which our DVLs are being used and the technical issues which have been addressed. We also present our views on the directions in which the acoustic velocity log technology is moving and some of the constraints on that technology. The issues discussed include further reduction of size, weight and cost, the use of phased array technology to reduce further the transducer size, and the progress which we have made in correlation velocity logs as a deep water alternative to DVLs.","PeriodicalId":291247,"journal":{"name":"Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)","volume":"176 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126027388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

GIB buoys: an interface between space and depths of the oceans GIB浮标:空间和海洋深处之间的接口

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744453

H. Thomas

引用次数: 57

Using the ST725 sonar for AUV feature based navigation and correction 使用ST725声纳进行AUV特征导航和校正

Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290) Pub Date : 1998-08-20 DOI: 10.1109/AUV.1998.744450

W. J. Marr, A. Healey

{"title":"Using the ST725 sonar for AUV feature based navigation and correction","authors":"W. J. Marr, A. Healey","doi":"10.1109/AUV.1998.744450","DOIUrl":"https://doi.org/10.1109/AUV.1998.744450","url":null,"abstract":"This paper reports on a previous experimental investigation of the Tritech ST725 high resolution sonar system used onboard the NPS Phoenix and a possible extension of the results to an underwater feature based navigation and correction system. The ST725 sonar was used in progressively complex static environments to clearly image objects. Scanline analysis of the ST725 data was conducted and shown to be useful in extracting stationary target information on vertically oriented mine-like objects as well as a small sphere. Raw scanline processing using a \"gating and thresholding\" method was used to determine range, bearing, and approximate size/orientation. Additionally, by capturing the range of the first return, the sonar was shown to be capable of emulating a \"profiling\" sonar. Future synthesis of known underwater features with range and bearing information and scanline analysis may provide the underwater vehicle systems designer with an alternate method of navigation. The value of this topic in the advancement of understanding underwater technology is that actual experimental data were used and useful results were obtained.","PeriodicalId":291247,"journal":{"name":"Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132226764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1