Current Search:  Inertial navigation systems (x)

View All Items

  • CSV Spreadsheet
(1 - 8 of 8)
A precision navigation system for autonomous undersea vehicles
Title
A precision navigation system for autonomous undersea vehicles.
Creator
White, Dan G., Psota, F., Harbor Branch Oceanographic Institute
Date Issued
1996
PURL
http://purl.flvc.org/FCLA/DT/3351964
Subject Headings
Inertial navigation systems, Submersibles, Submersibles--Automatic control, Inertial navigation, Remote submersibles
Format
Document (PDF)
Calibration and Performance Evaluation for a Multiple Overlapping Field of View Serial Laser Imager
Title
Calibration and Performance Evaluation for a Multiple Overlapping Field of View Serial Laser Imager.
Creator
Rasoletti, Nicholas, Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The Combined Laser and Scan Sonar (CLASS) system is an extended range imaging system, incorporating both high-resolution laser images and high frequency sonar images. Both the laser and sonar images are collected simultaneously during testing to provide dual mode imagery of an underwater target, displaying both a 2D image of the target (laser image) and a 3D overlay of the target (sonar image). The laser component of the system is a Multiple Overlapping Field of view Serial Laser Imager ...
Show moreThe Combined Laser and Scan Sonar (CLASS) system is an extended range imaging system, incorporating both high-resolution laser images and high frequency sonar images. Both the laser and sonar images are collected simultaneously during testing to provide dual mode imagery of an underwater target, displaying both a 2D image of the target (laser image) and a 3D overlay of the target (sonar image). The laser component of the system is a Multiple Overlapping Field of view Serial Laser Imager (MOFSLI), capable of generating high-resolution sub-centimeter 2D images. MOFSLI generates the images by way of a near diffraction-limited 532 [nm] continuous wave (CW) laser beam being scanned over the target. Initial field tests resulted in high-quality images of the ocean floor, but also indicated the need for additional research on MOFSLI. In this thesis, we focus on the calibration of MOFSLI and on the evaluation of the image quality generated by this system, as a function of range, source power, receiver gain and water turbidity. This work was completed in the specialized underwater electrooptics testing facility located in the Ocean Visibility and Optics laboratory at Harbor Branch Oceanographic Institute (HBOI). Laboratory testing revealed the operational limits of the system, which functioned well until just beyond five attenuation lengths, where it becomes contrast limited due attenuation of target signal and the collection of non-image bearing backscattered photons. Testing also revealed the optimal settings of the system at given environmental conditions.
Show less
Date Issued
2015
PURL
http://purl.flvc.org/fau/fd/FA00004538, http://purl.flvc.org/fau/fd/FA00004538
Subject Headings
Electrooptics, Inertial navigation systems, Lasers -- Measurement -- Evaluation, Light -- Scattering
Format
Document (PDF)
modular guidance, navigation and control system for unmanned surface vehicles
Title
A modular guidance, navigation and control system for unmanned surface vehicles.
Creator
Furfaro, Thomas C., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional...
Show moreThe design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional software modules. A generic GNC approach is presented, with particular elaboration on a virtual rudder abstraction of differential thrust platforms. A MATLAB Simulink simulation is presented as a tool for developing an appropriate controller structure, the result of which was implemented on the target platform. Software validation is presented via a series of sea trials. The USV was tested both in open- and closed-loop control configurations, the results of which are presented here. Lastly recommendations for future development of the GNC system are enumerated.
Show less
Date Issued
2012
PURL
http://purl.flvc.org/FAU/3342052
Subject Headings
Underwater navigation, Adaptive signal processing, Inertial navigation systems, Oceanographic instruments, Development
Format
Document (PDF)
low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications
Title
A low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications.
Creator
Gelin, Chrystel., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the...
Show moreStandard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task.
Show less
Date Issued
2010
PURL
http://purl.flvc.org/FAU/2709690
Subject Headings
Oceanographic instruments, Evaluation, Underwater navigation, Adaptive signal processing, Inertial navigation systems, Wave motion, Theory of
Format
Document (PDF)
Test platform development for measuring surface effect ship response to wave loads
Title
Test platform development for measuring surface effect ship response to wave loads.
Creator
Kouvaras, Nicholas, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The goal of this thesis is to develop a test platform for measuring surface effect ship (SES) response to wave loads. The platform is designed and built incorporating a self-propelled vehicle with data acquisition and navigation capabilities. Theoretical analysis is performed, various hardware and electronic parts are designed and built and software applications developed. Wave tank experiments are conducted for test platform evaluation and determination of vehicle response to a range of wave...
Show moreThe goal of this thesis is to develop a test platform for measuring surface effect ship (SES) response to wave loads. The platform is designed and built incorporating a self-propelled vehicle with data acquisition and navigation capabilities. Theoretical analysis is performed, various hardware and electronic parts are designed and built and software applications developed. Wave tank experiments are conducted for test platform evaluation and determination of vehicle response to a range of wave conditions. Furthermore, a three-dimensional model of the AIRCAT scale model SES is created. The theoretical analysis shows that the scale effects in some cases are great, so resonance phenomena cannot be observed. The experimental results clearly show that the heave, pitch and aircushion excess pressure fluctuations increase as the air-blower input level increases. The bow skirt arrangement needs improvements and further experimentation is necessary in order to draw conclusions about the wave loads applied on the skirt.
Show less
Date Issued
2010
PURL
http://purl.flvc.org/FAU/1927307
Subject Headings
Mobile offshore structures, Design and construction, Wave motion, Theory of, Inertial navigation systems, Oceanographic instruments, Evaluation
Format
Document (PDF)
System identification methodology for a wave adaptive modular unmanned surface vehicle
Title
System identification methodology for a wave adaptive modular unmanned surface vehicle.
Creator
Mask, Janine L., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The design, implementation, and testing of an experimental setup intended to evaluate the dynamic maneuvering performance of the Wave Adaptive Modular Vessel (WAM-V) class USV12, a 3.7 meter unmanned surface vehicle (USV) is described. A comprehensive sensor package was designed, fabricated and assembled to record the vehicle's dynamic response to various control inputs. All subsystems were fabricated and installed on a test vehicle, GUSS, and full system, open-loop maneuvering tests were...
Show moreThe design, implementation, and testing of an experimental setup intended to evaluate the dynamic maneuvering performance of the Wave Adaptive Modular Vessel (WAM-V) class USV12, a 3.7 meter unmanned surface vehicle (USV) is described. A comprehensive sensor package was designed, fabricated and assembled to record the vehicle's dynamic response to various control inputs. All subsystems were fabricated and installed on a test vehicle, GUSS, and full system, open-loop maneuvering tests were conducted to show validity of data collection technique. Simulations were performed using model parameters found in the literature to create a "simulated experimental" data set, upon which system identification techniques were used to rediscover a suitable model with similar parameterization. Combined, the sensor package and the method for creating this model support future work in the design of automatic control, navigation, and guidance systems for the WAM-V USV12.
Show less
Date Issued
2011
PURL
http://purl.flvc.org/FAU/3332720
Subject Headings
Oceanographic instruments, Evaluation, Wave motion, Theory of, Inertial navigation systems, Adaptive signal processing
Format
Document (PDF)
Dynamic positioning and motion mitigation of a scaled sea basing platform
Title
Dynamic positioning and motion mitigation of a scaled sea basing platform.
Creator
Marikle, Sean P., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
A 6-Degree Of Freedom (DOF) numeric model and computer simulation along with the 1/10th scale physical model of the Rapidly Deployable Stable Platform (RDSP) are being developed at Florida Atlantic University in response to military needs for ocean platforms with improved sea keeping characteristics. The RDSP is a self deployable spar platform with two distinct modes of operation enabling long distance transit and superior seakeeping. The focus of this research is the development of a Dynamic...
Show moreA 6-Degree Of Freedom (DOF) numeric model and computer simulation along with the 1/10th scale physical model of the Rapidly Deployable Stable Platform (RDSP) are being developed at Florida Atlantic University in response to military needs for ocean platforms with improved sea keeping characteristics. The RDSP is a self deployable spar platform with two distinct modes of operation enabling long distance transit and superior seakeeping. The focus of this research is the development of a Dynamic Position (DP) and motion mitigation system for the RDSP. This will be accomplished though the validation of the mathematical simulation, development of a novel propulsion system, and implementation of a PID controller. The result of this research is an assessment of the response characteristics of the RDSP that quantifies the performance of the propulsion system coupled with active control providing a solid basis for further controller development and operational testing.
Show less
Date Issued
2009
PURL
http://purl.flvc.org/FAU/228767
Subject Headings
Inertial navigation systems, Mobile offshore structures, Design and construction, Wave motion, Theory of, Offshore structures, Dynamics, Feedback control systems
Format
Document (PDF)
Stereo vision-based target tracking system for USV operations
Title
Stereo vision-based target tracking system for USV operations.
Creator
Sinisterra, Armando Jose, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
A methodology to estimate the state of a moving marine vehicle, defined by its position, velocity and heading, from an unmanned surface vehicle (USV), also in motion, using a stereo vision-based system, is presented in this work, in support of following a target vehicle using an USV.
Date Issued
2015
PURL
http://purl.flvc.org/fau/fd/FA00004466, http://purl.flvc.org/fau/fd/FA00004466
Subject Headings
Adaptive control systems, Adaptive signal processing, Computer vision, Inertial navigation systems, Intelligent control systems, Motion segmentaton, Oceanographic instruments -- Development, Ubiquitous computing
Format
Document (PDF)