A low-cost underwater navigation system for remotely operated underwater vehicle &amp;#x2014; Design, system-integration, and implementation

Budiman, William; Shanmugavel, Madhavan; Ragavan, Veera; Lazarus, Samuel

doi:10.1109/iccic.2014.7238429

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…At present, most underwater navigation systems are inertial navigation systems (INS). As the error of INS inevitably accumulates over time [1], many auxiliary measures need to be adopted, including Global Positioning System-(GPS-) aided methods [2,3], acoustic navigation methods [4,5], and Doppler velocity log-(DVL-) aided methods [6,7]. However, the limitation of these techniques is that the navigation system must rely on either electromagnetic wave signal (e.g., GPS signal), artificial beacons (e.g., long baseline), complex mathematical models (e.g., flow prediction model), or the accessibility of the sea bottom (e.g., DVL bottom tracking).…”

Section: Introductionmentioning

confidence: 99%

Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

et al. 2018

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Terrain matching positioning is a promising method to overcome the problem that the inertial navigation error of the underwater vehicle accumulates over time. In the conventional terrain matching method, all measurement points are commonly used for matching and positioning. However, this method fails to be taken into a balanced consideration on both the computation complexity and the positioning accuracy. To reduce the computation and ensure the accuracy at the same time, an improved terrain matching method based on the gradient fitting is proposed in this paper. In the method, the gradient distributions of multiple terrain regions are firstly analyzed. Then, normal distribution is used to fit them, and according to the distribution, points with larger gradient values are selected as matching points. Finally, minimum absolute difference matching is chosen to match for positioning. Simulation results using multibeam sonar show that the improved terrain matching localization method not only reduces the computational complexity but also improves the accuracy of positioning.

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Section: Introductionmentioning

confidence: 99%

Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

et al. 2018

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“…Kalman filters are a mature integrated navigation method (Budiman et al, 2014; Hegrenaes et al, 2008; Lee et al, 2007; Stanway, 2010; Batista et al, 2010). The variations in periods of different navigation sensors can lead to a decline in the precision of an INS, and require improvement.…”

Section: Introductionmentioning

confidence: 99%

Multi-Sensor, Adjustable-Period Integrated Navigation Method Based on Multi-Stage Signal Trigger for Underwater Vehicles

et al. 2017

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For underwater vehicle navigation sensors, the output signal periods are different and time-varying. This would result in the decline of precision, and even wrong results. To deal with the problem, this paper puts forward a multi-sensor, adjustable-period integrated navigation method based on multi-stage signal trigger. This method considers the valid signals of a Doppler Velocity Log (DVL) as the trigger signals of a Dead-Reckoning (DR) navigation program. It also considers the valid signals of an acoustic positioning sensor as the trigger signals of the integrated navigation program. In this method, it can adjust the filtering period in real time. According to the time label of signals, this method actualises the time-space alignment of sensors. Then it conducts DR navigation and integrated navigation. The method can not only utilise the valid signals of each sensor sufficiently but also fuses the data based on time-space alignment efficiently. Sea trial data shows that when the output signal periods are certain, navigation precision of the method in this paper is better than a non-adjustable-period filtering method. Moreover, in poor conditions, it can also attain a high precision.

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Automatic generation control of three area hydro-thermal power systems with electric and mechanical governor

Jagatheesan¹,

Anand

2014

2014 IEEE International Conference on Computational Intelligence and Computing Research

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This paper presents the dynamic performance of interconnected three area hydrothermal power systems with conventional controllers. In this work, area 1 and area 2 consists of thermal power plant while area 3 consists of hydro power plant. The thermal and hydro power plant incorporate with reheat turbine and either mechanical governor or electric governor respectively. The conventional Proportional Integral (PI) controller is used in load frequency control. The Integral Time Absolute Error (ITAE) optimization criterion is used for the design of conventional controller gain. Performance of mechanical and electric governor is compared with and without considering generation rate constraint effects. Also the performance of Electric governor is studied with Integral (I) and Proportional Integral (PI) controller. The simulation result shows that electric governor improves the control performance more efficiently than the mechanical governor. One percentage of step load has been considered in either area of the system for this investigation.

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A low-cost underwater navigation system for remotely operated underwater vehicle — Design, system-integration, and implementation

Cited by 3 publications

References 8 publications

Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting

Multi-Sensor, Adjustable-Period Integrated Navigation Method Based on Multi-Stage Signal Trigger for Underwater Vehicles

Automatic generation control of three area hydro-thermal power systems with electric and mechanical governor

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