Landing method of autonomous underwater vehicles for seafloor surveying

Matsuda, Takumi; Takizawa, Ryota; Sakamaki, Takashi; Maki, Toshihiro

doi:10.1016/j.apor.2020.102221

Cited by 7 publications

(4 citation statements)

References 22 publications

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“…With the extensive human exploration of the ocean, performing long-term, fixed-point observations of deep-sea areas are becoming increasingly necessary [1,2]. Traditional autonomous underwater vehicles (AUV) and remote underwater vehicles cannot accomplish this task [3,4]. Thus, deep-sea landing vehicles (DSLV) have attracted increased attention as underwater autonomous navigation platforms [5].…”

Section: Introductionmentioning

confidence: 99%

“…The pressure-resistant structure is made of a high-strength aluminum alloy, and the cap of the antenna cabin is made of polyether ether ketone (PEEK). The density of the floating material is 560 kg/m 3 . In practical applications, the dielectric constant and loss angle tangent of PEEK have little influence on the transmittance of radio waves [13].…”

Section: Introductionmentioning

confidence: 99%

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Theoretical Analysis Method for Roll Motion of Popup Data Communication Beacons

Song

Chi

Liang

et al. 2023

JMSE

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The popup data communication beacon (PDCB) can send data to the shore and ships through the BeiDou navigation satellite system (BDS) when it surfaces. The data can be collected by a deep-sea landing vehicle (DSLV) and transmitted using a magnetic induction coil. PDCBs can reduce the cost of DSLV recovery and redeployment. Whether the data can be successfully sent mainly depends on the outlet height and roll angle of the PDCB. Thus, accurately assessing the effect of the roll angle on data transmission is crucial. In this study, first, the differential equation of roll motion was preliminarily established using the small-amplitude wave theory along with the shape characteristics of the PDCB. Next, the nonlinear term of the recovery moment was processed using the Linz Ted Poincaré method. Then, the wave current force was analyzed using the Morrison theoretical formula along with an additional inertia moment calculation formula that is suitable for slender cylindrical small buoys. Finally, the theoretical calculation results were verified using the computational fluid dynamics (CFD) method and pool test. The roll angle error of the theoretical calculation was within 5%. Thus, the heave and roll response of PDCBs can be evaluated using theoretical calculation methods. The proposed calculation formula of additional inertia moment has guiding significance for the further optimization of the structure.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Theoretical Analysis Method for Roll Motion of Popup Data Communication Beacons

Song

Chi

Liang

et al. 2023

JMSE

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show abstract

“…These approaches are based on the fact that the AUV navigation complex consists of a hydroacoustic and onboard system. The onboard navigation system may include an inertial measurement unit (IMU), a Doppler velocity logger (DVL), and a pressure sensor (PS) [13]. Moreover, GPS, DVL, and PS separately provide position, velocity, and depth information, which are used to correct the navigation data [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…The onboard navigation system may include an inertial measurement unit (IMU), a Doppler velocity logger (DVL), and a pressure sensor (PS) [13]. Moreover, GPS, DVL, and PS separately provide position, velocity, and depth information, which are used to correct the navigation data [13][14][15]. In contrast to airborne or ground-based drones, AUVs are dealing with a uniquely difficult navigational problem due to the lack of high-precision satellite navigation underwater.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data

Kramar,

Kabanov,

Dementiev

2023

JMSE

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This paper proposes a maximum-ratio combining sensor fusion scheme for using an extended Kalman filter in the underwater vehicle positioning task by means of communication devices (buoys) providing location information using a slant-range mechanism, inertial sensors, a Doppler velocity log, and a pressure sensor in the absence of bearing angle data. The parameter estimation methods for all navigation system components are described. The results of simulation modeling with corresponding quality metrics are presented. The outcomes were supported by conducted field experiments. The results obtained allowed us to obtain a position determination model for the underwater vehicle, which is still a relevant and complex task for seabed explorers.

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A practical INS/GPS/DVL/PS integrated navigation algorithm and its application on Autonomous Underwater Vehicle

et al. 2021

Applied Ocean Research

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Landing method of autonomous underwater vehicles for seafloor surveying

Cited by 7 publications

References 22 publications

Theoretical Analysis Method for Roll Motion of Popup Data Communication Beacons

Theoretical Analysis Method for Roll Motion of Popup Data Communication Beacons

Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data

A practical INS/GPS/DVL/PS integrated navigation algorithm and its application on Autonomous Underwater Vehicle

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