Development of a Synchronous High-Speed Acoustic Communication and Navigation System for Unmanned Underwater Vehicles

2003 ◽  
Author(s):  
Pierre-Philippe Beaujean ◽  
Steven Schock ◽  
Andres Folleco
Keyword(s):  
Acoustic Communication ◽  
Navigation System ◽  
High Speed ◽  
Underwater Vehicles ◽  
Unmanned Underwater Vehicles

scholarly journals Cooperative Localization Method for AUV Using Acoustic Communication Measurement

2012 ◽  
Vol 4 ◽  
pp. 227-231 ◽  
Author(s):  
Li Chuan Zhang ◽  
Ming Yong Liu ◽  
Fu Bin Zhang
Keyword(s):  
Acoustic Communication ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Localization ◽  
Relative Location ◽  
Navigation Problem ◽  
Cooperative Navigation ◽  
Acoustic Device ◽  
Navigation Accuracy

In this paper, we propose an algorithm based on double acoustic measurement for cooperative navigation of multiple autonomous underwater vehicles. Research on cooperative navigation of AUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leader-follow structure, the leader AUV is equipped with high precision navigation system, and the follow AUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow AUV, the method may cause fault error solution. Double acoustic communication measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.

Application of Underwater Passive Landmarks for Autonomous Unmanned Underwater Vehicles Navigation

2020 ◽  
Vol 28 (3) ◽  
pp. 95-108
Author(s):  
A.I. Mashoshin ◽  
◽  
I.V. Pashkevich ◽  
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Underwater Vehicles ◽  
Unmanned Underwater Vehicles ◽  
Autonomous Navigation System

The article describes the design of passive underwater landmarks (PUL) and their use for navigation of autonomous unmanned underwater vehicles (AUV). The procedure of AUV observation using PUL is considered. It is shown that with proper maneuvering of the AUV during observation, the accuracy of determining its coordinates is limited only by the accuracy of the PUL positioning during installation. This accuracy also affects the distance between neighboring PULs installed along the AUV’s route. If the AUV is equipped with a high-precision autonomous navigation system, the PULs can be installed at the intervals of several hundred kilometers.

scholarly journals RIGHTING OF CHINESE MITTEN CRABS (ERIOCHEIR SINENSIS) AND THEIR MODELS

2016 ◽  
Vol 7 ◽  
pp. 53
Author(s):  
Tobias Riphaus ◽  
Florian Hoffmann ◽  
Susanna Labisch
Keyword(s):  
High Speed ◽  
Particle Image ◽  
Numerical Models ◽  
Rotational Velocity ◽  
Underwater Vehicles ◽  
Eriocheir Sinensis ◽  
Unmanned Underwater Vehicles ◽  
Starting Position ◽  
Image Velocimetry ◽  
Mitten Crabs

The usage of unmanned underwater vehicles for marine tasks is continuously growing and bioinspired stabilizing systems shall help them to gain and keep a stable position during work. Therefore the righting maneuver of E. sinensis has been studied. These crabs are able to perform a 180°-rotation with an angular velocity of 4.30 s<sup>−1</sup> when falling underwater from a supine starting position. High-speed particle image velocimetry has shown, that propulsive forces with a peak of 0.021 ± 0.001 N were produced by the hind legs to initiate and stop the rotation. In a numerical multibody simulation a constant force of 0.009 N acting for 0.2 s leads to the same rotation. In order to prove this mechanism, it was implemented into a robotic system. Its mean density of 1.15 g/cm<sup>3</sup> deviates not more than 4% from the biological and numerical models. It can complete a 180°-turn within 1.03 ± 0.12 s with a rotational velocity of up to 4.25 s<sup>−1</sup>.

Experimental Study of Command Governor Adaptive Control for Unmanned Underwater Vehicles

2019 ◽  
Vol 27 (1) ◽  
pp. 332-345 ◽  
Author(s):  
Charita Darshana Makavita ◽  
Shantha Gamini Jayasinghe ◽  
Hung Duc Nguyen ◽  
Dev Ranmuthugala
Keyword(s):  
Experimental Study ◽  
Adaptive Control ◽  
Underwater Vehicles ◽  
Unmanned Underwater Vehicles
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