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An effective and accurate navigation algorithm is the critical to achieve the purpose of precise localization and autonomous navigation for Autonomous Underwater Vehicle (AUV). Extended Kalman Filter (EKF) is one of the most popular methods, because it is easy to implement. In spite of its wide applications, it still suffers from two major drawbacks as follows: (1) the noise covariance matrixes are...
Along with the construction and development of Global Navigation Satellite System (GNSS) technology, GNSS has been widely and increasingly used in the ocean field, such as offshore wind retrieval, sea ice observation, sea state monitoring et al. Researchers from National Ocean Technology Center take advantage of GNSS satellites signal Doppler shift to measure the buoy state, then inverse the wave...
The accuracy estimation of positioning system operation for autonomous underwater vehicle (AUV) based on using of single hydro acoustic beacon transported by autonomous surface vehicle (ASV) is discussed. The accuracy research is performed for two navigation algorithms which used information about distance to a single mobile beacon and data from the AUV onboard reckoning system. The first algorithm...
For marine environment observation, especially for open-sea wave-measuring application, a low cost and small size Wave Drifter is introduced as a preferred wave observing instrument. The Wave Drifter is developed based on Global Positioning System (GPS) receivers and deployed in open sea. Based on a single low-cost GPS receiver, the Wave Drifter can provide the standard wave parameters. A Wave Drifter...
This system is an underwater integrated navigation system based on Attitude Heading Reference System (AHRS)/Global Positioning System (GPS)/ Doppler Velocity Log (DVL). It is built on STM32F103 equipped with the uCOS-II system, which has perfect real-time character, low cost and high-performance. The present hardware includes singer board computer, AHRS, DVL, depth gauge, and GPS receiver. Kalman...
Unmanned Surface Vehicle (USV) is a novel kind of oceanic platforms, which is potential to be an effective platform for acoustic applications. Active and passive underwater acoustic experiments using our USV called USBV at Ji-hong-tan reservoir in Qingdao on July 15–17, 2015 and at Wu-zhi-zhou Island in the South China Sea on January 3–6, 2016 are presented to quantify this potential. The acoustic...
There are several sources of error affecting the accuracy of underwater ranging using acoustic signals. These errors have a direct impact in the performance of Long Baseline (LBL) navigation system. This paper presents the results of experiments designed to characterize the most significant sources of errors in acoustic ranging. For the experiments, we use a set of acoustic devices and compare distances...
This paper presents a new generation of man portable acoustic navigation buoys. The aim of these buoys is to facilitate the deployment of an underwater acoustic positioning system for the operation of Autonomous Underwater Vehicles. Each buoy includes only the vital modules required for the most typical schemes of underwater acoustic navigation, packed in a small but dynamically stable platform for...
This paper addresses the problem of integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) in the field of developing low-cost, robust and highly accurate navigation systems. With the implementation of the navigation system of an unmanned surface vehicle (USV) as background, a tightly-coupled integration filter based on quaternion has been proposed. The proposed...
Coral reefs exhibit the highest biodiversity in the ocean and are an extremely vulnerable ecosystem. Monitoring the state of the reefs is a tedious process performed by human divers which can be automated. This paper presents the use of several inexpensive drifting sensor nodes in order to reconstruct a visual mosaic of a shallow coral reef. The drifters produce geo-referenced visual data from a downward...
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