Mitigation of platform generated magnetic noise impressed on a magnetic sensor mounted in an autonomous underwater vehicle

Allen, George I.; Matthews, Robert; Wynn, M.

doi:10.1109/oceans.2001.968672

Cited by 22 publications

(9 citation statements)

References 5 publications

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“…Communications with the MEH is by one of three methods: Ethernet when on shore power, RF when it is on the surface and away from the boat, and acoustically while under water. In the future, the payloads will inform the MEH that a target has been detected, and the MEH will make mission modifications on the fly [6].…”

Section: Description Of Subsystemsmentioning

confidence: 99%

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

et al. 2006

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In many undersea conditions, optical sensors and sonar can be used to discriminate against sea mines. However, there are many conditions where these sensors are insufficient. For example, when a mine is fully buried these sensors are of little help. Under these conditions, additional sensor technologies are required. Since it is not affected by the medium, a technology of choice is magnetics.In the late 1990's a "T-shaped" gradiometer with a 12-inch baseline was developed. It became known as the RTG. Measurements performed in the nonmagnetic facility at the Naval Surface Warfare Center Panama City (NSWC-PC) demonstrated good localization capabilities and it was selected to become part of an ONR initiative to replace the human diver with Unmanned Underwater Vehicles (UUVs) using custom designed payload modules in high-risk mission areas. In the early 2000's the land-based RTG was refitted for underwater applications and integrated with the Florida Atlantic University's Buried Object Scanning Sonar (BOSS). Both were operated from a towed nonmagnetic sled where they demonstrated the ability to localize on buried undersea magnetic targets. The collection of simultaneous magnetic and acoustic data provided the opportunity to apply sensor fusion.While the towed nonmagnetic sled was an ideal magnetic platform, it was unsuited for the shallow water operations required by the Navy. In response to those requirements, both RTG and BOSS were redesigned to fit on newly developed UUVs, such as the 12.75"-diameter Bluefin 12. As expected the UUVs magnetic platform noise level was considerably higher due to the increased number of magnetic noise sources on an active autonomous vehicle and the closer placement of the RTG to these noise sources. To mitigate this increased noise, a magnetic noise cancellation system using magnetometers and current sensors, strategically placed within the control section of the UUV, was implemented.The initial underwater shake down of this entirely new system occurred in August 2005. This demonstrated, for the first time, autonomous control of the RTG by the Bluefin 12. Sea tests continued during 2006, collecting simultaneous data from the RTG, BOSS and a simple optical camera. These co-registered data have been used to demonstrate the common detection and localization of buried targets. This paper focuses on the 2006 sea testing of the system and the initial analysis of the data from the fluxgate-based RTG.

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Section: Description Of Subsystemsmentioning

confidence: 99%

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

et al. 2006

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“…Since the magnetic noise generated by electrical subsystems and propulsion units may effectively limit the sensitivity of higher performance sensors, the RTG can be considered as a good compact and affordable candidate for UUV operation. The existing version of the RTG has been used in several land-based tests to establish the effectiveness of magnetic sensors onboard UUVs [14]- [16]. Sensitivities obtained from these tests are essentially at the noise floor of the sensor under ideal "magnetically quiet" conditions.…”

Section: B Realtime Tracking Gradiometer (Rtg)mentioning

confidence: 99%

Progress in the development of buried minehunting systems

Clem

Lopes

2003

Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)

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-In FY 2002, the Office of Naval Research (ONR) initiated a project to provide a deliberate capability for hunting buried sea mines. The objectives and approaches for this buried minehunting (BMH) project and the sensor technologies being pursued have been reported [1]. In this paper, we will describe progress and current status of this project, including developments in sensors, platforms, system concepts, and testing. Discussion of relevant tests that have been conducted for individual sensors and sensor combinations will be included. Future plans to test and demonstrate these technologies and concepts are discussed.

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“…Bono, Overway, Wynn, Allen, Purpura, and Matthews [24][25][26] present an alternative experimental method which involves attaching a UUV to a three-axis motion table rocking at known frequency. Several total-field magnetometers are positioned around the motion table and on the UUV, and the data was analyzed in the frequency spectrum to localize magnetic field sources.…”

Section: Testing Strategiesmentioning

confidence: 99%

“…Several total-field magnetometers are positioned around the motion table and on the UUV, and the data was analyzed in the frequency spectrum to localize magnetic field sources. Allen et al [25,26] also present a method similar to the pullover test discussed by Versteeg et al [20], which involves a set of magnetometers arranged in a gradiometer configuration located as closely as possible to the movement track. Both approaches were utilized on multiple UUV's, allowing for the localization of several noise sources and the improved selection of suitable magnetometer locations.…”

Section: Testing Strategiesmentioning

confidence: 99%

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Magnetic signature control strategies for an unmanned aircraft system

Forrester¹

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Mitigation of platform generated magnetic noise impressed on a magnetic sensor mounted in an autonomous underwater vehicle

Cited by 22 publications

References 5 publications

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

Progress in the development of buried minehunting systems

Magnetic signature control strategies for an unmanned aircraft system

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