Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping

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

Authors: Gelin, Chrystel

  • Recent research on navigation control of underwater vehicles
  • A low cost high rate motion measurement system for unmanned surface vehicle with underwater and oceanographic purposes is proposed
  • This study was successfully presented at ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering (OMAE2011)
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  • ISBN 978-3-642-32015-6
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Hardcover $159.00
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  • ISBN 978-3-642-42981-1
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About this book

Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion methods, for a USV to aid in navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP). While ADCPs non-intrusively measure water flow, the vessel motion needs to be removed to analyze the data and the system developed provides the motion measurements and processing to accomplish this task.

Reviews

From the reviews:

“The author details an interesting framework for fusing those heterogeneous data sources to obtain improved position and orientation state information. Signal filtering constitutes the other focus of the book. … The fact that the book deals with the author’s own research gives weight to the story and permits us to understand the hidden work in maritime robotics projects. Clearly, this book would be very useful for research purposes. It has a clear structure and can be easily followed.” (Ramon Gonzalez Sanchez, ACM Computing Reviews, December, 2012)


Table of contents (6 chapters)

Buy this book

eBook $119.00
price for USA (gross)
  • ISBN 978-3-642-32015-6
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $159.00
price for USA
  • ISBN 978-3-642-32014-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $159.00
price for USA
  • ISBN 978-3-642-42981-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing
Authors
Series Title
Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping
Series Volume
1
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-32015-6
DOI
10.1007/978-3-642-32015-6
Hardcover ISBN
978-3-642-32014-9
Softcover ISBN
978-3-642-42981-1
Series ISSN
2194-8445
Edition Number
1
Number of Pages
XVIII, 98
Topics