A High-Rate Virtual Instrument of Marine Vehicle Motions for - download pdf or read online

By Chrystel Gelin

ISBN-10: 3642320147

ISBN-13: 9783642320149

ISBN-10: 3642320155

ISBN-13: 9783642320156

Dead-Reckoning aided with Doppler speed size has been the most typical approach for underwater navigation for small automobiles. regrettably DR calls for widespread place recalibrations and underwater car navigation platforms are restricted to periodic place replace once they floor. eventually ordinary international Positioning process (GPS) receivers are not able to supply the speed or precision required whilst used on a small vessel. to beat this, a cost effective excessive fee movement size method for an Unmanned floor car (USV) with underwater and oceanographic reasons is proposed. The proposed onboard method for the USV includes an Inertial size Unit (IMU) with accelerometers and expense gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing the entire sensors proved really not easy due to their varied features. The proposed facts fusion approach integrates the sensors and develops an embeddable software program package deal, utilizing actual time facts fusion tools, for a USV to assist in navigation and regulate in addition to controlling an onboard Acoustic Doppler present Profiler (ADCP). whereas ADCPs non-intrusively degree water move, the vessel movement should be got rid of to research the information and the procedure constructed presents the movement measurements and processing to complete this job.

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Extra info for A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

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25 Diagram of the data fusion IMU / TCM2/ Tilt sensor to obtain Euler angles, . The pre-emphasized signal contains the low-frequency information from the tilt sensors ( , ) and from the compass ( ) and the high-frequency is convolved with a 1st order Butterworth filter information from the rate gyros, to calculate the Euler angles, , , T using with a cutoff frequency (17). The Butterworth filter is selected because it has a more linear phase response in the passband compare to other filters like Chebyshev and Elliptic filters.

Unfortunately, implicit in Γ in (12) are the Euler angles and that are not known at high frequency. Therefore, an iterative method is used to accurately compute the Euler rates. In the first iteration (n=1), the Euler angles at low-frequency, , are T , , , used to estimate Γ, yielding an initial estimate of (Figure 25). The first estimate for is then used to transform the angular rates to which is merged with , to provide Euler rates to obtain a second estimate of a more accurate second measure of , (Figure 25), and so forth.

36) Similarity the IMU acceleration vector is defined by: , , T . (37) The determination of the data fusion frequency for the data fusion process is based on 4 steps applied to each one of the three trajectories. 2 Data Acquisition System Lab Testing 49 1) processing of the raw data and selection of the data fusion frequency, 2) Observing the signal spectrum to validate the choice of the data fusion frequency, 3) Observing the crosscorrelation of the low-passed merged and lowpassed GPS measurements to quantify their agreement with each other and Step4; calculation of the standard deviation of the merged signal using a high-pass filter to remove any motion contamination (Figure 43).

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A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing by Chrystel Gelin

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