A novel ocean bathymetry technology based on an unmanned surface vehicle

Jin, Jiucai; Zhang, Jie; Wu, Guangqiang; Wang, Dong

doi:10.1007/s13131-018-1269-2

Cited by 28 publications

(9 citation statements)

References 7 publications

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“…Application experiment for the USBV depth measurement was performed around Wuzhizhou Island on 3–6 January, 2016 ( Figure 4 a) [ 28 ]. Wuzhizhou Island is located at 18°18′40″ N, 109°45′45″ E, off the Haitang Bay, Sanya City, Hainan Province, China, which is 2.7 km offshore from the Haitang Bay ( Figure 6 a).…”

Section: Experiments Resultsmentioning

confidence: 99%

Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle

Jin

Zhang

Liu

2018

Sensors

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Unmanned Surface Vehicle (USV) is a novel multifunctional platform for ocean observation, and its heading and velocity control are essential and important for autonomous operation. A coupled heading and velocity controller is designed using backstepping technology for an USV called ‘USBV’ (Unmanned Surface Bathymetry Vehicle). The USBV is an underactuated catamaran, where the heading and velocity are controlled together by two thrusters at the stern. The three degrees-of-freedom equations are used for USBV’s modeling, which is identified using experiment data. The identified model, with two inputs, induces heading and velocity tracking, which are coupled. Based on the model, a nonlinear controller for heading and velocity are acquired using backstepping technology. The stability of the controller is proved by Lyapunov theory under some assumptions. The verification is presented by lake and sea experiments.

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Section: Experiments Resultsmentioning

confidence: 99%

Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle

Jin

Zhang

Liu

2018

Sensors

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“…Since then, great progress has been made in the development of USVs because of the technology advances in commercial navigation sensors and communication devices, as well as much more importance paid by the US navy for military surveillance, mine sweeping, littoral warfare and anti-terrorism missions [39]. In addition to the military applications, USVs for scientific research or marine engineering are also much required, such as oil spilling detection, bathymetric mapping, offshore pipeline survey, meteorological survey and water ecological study [40][41][42].…”

Section: Unmanned Surface Vehiclesmentioning

confidence: 99%

Ocean Observation Technologies: A Review

Lin

Yang

2020

Chin. J. Mech. Eng.

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Covering about three quarters of the surface area of the earth, the ocean is a critical source of sustenance, medicine, and commerce. However, such vast expanse in both surface area and depth, presents myriad observing challenges for researchers, such as corrosion, attenuation of electromagnetic waves, and high pressure. Ocean observation technologies are progressing from the conventional single node, static and short-term modalities to multiple nodes, dynamic and long-term modalities, to increase the density of both temporal and spatial samplings. Although people's knowledge of the oceans has been still quite limited, the contributions of many nations cooperating to develop the Global Ocean Observing System (GOOS) have remarkably promoted the development of ocean observing technologies. This paper reviews the typical observing technologies deployed from the sea surface to the seafloor, and discusses the future trend of the ocean observation systems with the docking technology and sustained ocean energy.

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“…An Unmanned Surface Vehicle (USV) is a novel kind of multifunctional surface platform, which has been applied in many oceanic fields in recent years, such as ocean surveying, hydrology measurements, underwater acoustic communication, target tracking [1][2][3], etc. The motion control of USVs is a basic and essential part for autonomous operation, which has usually been inspired by conventional vehicles' control.…”

Section: Introductionmentioning

confidence: 99%

A Practical Trajectory Tracking Scheme for a Twin-Propeller Twin-Hull Unmanned Surface Vehicle

Jin

Liu

Wang

et al. 2021

JMSE

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Trajectory tracking is a basis of motion control for Unmanned Surface Vehicles (USVs), which has been researched well for common USVs. The twin-propeller and twin-hull USV (TPTH-USV) is a special vehicle for applications due to its good stability and high load. We propose a three-layered architecture of trajectory tracking for the TPTH-USV which explicitly decomposes into trajectory guidance, a motion limitator and controller. The trajectory guidance transforms an expected trajectory into an expected speed and expected course in a kinematic layer. The motion limitator describes some restriction for motion features of the USV in the restriction layer, such as the maximum speed and maximum yaw rate. The controller is to control the speed and course of the USV in the kinetic layer. In the first layer, an adaptive line-of-sight guidance law is designed by regulating the speed and course to track a curved line considering the sideslip angle. In the second layer, the motion features are extracted from an identified speed and course coupled model. In the last layer, the course and speed controller are designed based on a twin-PID controller. The feasibility and practicability of the proposed trajectory tracking scheme is validated in sea experiments by a USV called ‘Jiuhang 490’.

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A novel ocean bathymetry technology based on an unmanned surface vehicle

Cited by 28 publications

References 7 publications

Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle

Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle

Ocean Observation Technologies: A Review

A Practical Trajectory Tracking Scheme for a Twin-Propeller Twin-Hull Unmanned Surface Vehicle

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