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Mobile docking of REMUS-100 equipped with USBL-APS to an unmanned surface vehicle: a performance feasibility study
- Date Issued:
- 2014
- Summary:
- The overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is susceptible to error due to the physical phenomena of the underwater acoustic channel (e.g. ambient noise, attenuation and ray refraction). The development of an APS model has allowed the authors to forecast the UUV’s position and the estimated track line of the USV as determined by the DUSBL acoustic sensor. In this model, focus is placed on three main elements: 1) the acoustic channel and sound ray refraction when propagating in an in-homogeneous medium; 2) the detection component of an ideal DUSBL-APS using the Neyman-Pearson criterion; 3) the signal-to-noise ratio (SNR) and receiver directivity impact on position estimation. The simulation tool is compared against actual open water homing results in terms of the estimated source position between the simulated and the actual USBL range and bearing information.
Title: | Mobile docking of REMUS-100 equipped with USBL-APS to an unmanned surface vehicle: a performance feasibility study. |
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Name(s): |
Miranda, Mario II, author Beaujean, Pierre-Philippe, Thesis advisor Florida Atlantic University, Degree grantor College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Date Created: | 2014 | |
Date Issued: | 2014 | |
Publisher: | Florida Atlantic University | |
Place of Publication: | Boca Raton, Fla. | |
Physical Form: | application/pdf | |
Extent: | 140 p. | |
Language(s): | English | |
Summary: | The overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is susceptible to error due to the physical phenomena of the underwater acoustic channel (e.g. ambient noise, attenuation and ray refraction). The development of an APS model has allowed the authors to forecast the UUV’s position and the estimated track line of the USV as determined by the DUSBL acoustic sensor. In this model, focus is placed on three main elements: 1) the acoustic channel and sound ray refraction when propagating in an in-homogeneous medium; 2) the detection component of an ideal DUSBL-APS using the Neyman-Pearson criterion; 3) the signal-to-noise ratio (SNR) and receiver directivity impact on position estimation. The simulation tool is compared against actual open water homing results in terms of the estimated source position between the simulated and the actual USBL range and bearing information. | |
Identifier: | FA00004140 (IID) | |
Degree granted: | Thesis (M.S.)--Florida Atlantic University, 2014. | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): | Includes bibliography. | |
Subject(s): |
Adaptive signal processing Mobile robots Underwater acoustic telemetry |
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Held by: | Florida Atlantic University Libraries | |
Sublocation: | Digital Library | |
Links: | http://purl.flvc.org/fau/fd/FA00004140 | |
Persistent Link to This Record: | http://purl.flvc.org/fau/fd/FA00004140 | |
Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU | |
Is Part of Series: | Florida Atlantic University Digital Library Collections. |