Positioning Small AUVs for Deeper Water Surveys Using Inverted USBL
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1 Positioning Small AUVs for Deeper Water Surveys Using Inverted USBL Presented at Hydro12, Rotterdam, November 2012 Dr. T.M. Hiller,
2 Overview Introduction to Gavia AUV Gavia Acoustic Navigation Aiding Results from the Field
3 What is a Gavia AUV? The Gavia is a man portable, fully modular AUV with user changeable modules that can be replaced in minutes, allowing rapid sensor reconfiguration and battery replacement and is capable of operations in depths of up to 1000m.
4 Gavia Basics of Operations Unthethered operations Mission programmed into system prior to operations Mission runs autonomously Retreval and analysis of data
5 Modularity The Gavia is made up of several individual cylindrical modules forming a single hull All Gavia vehicles start with the 4 basic modules (Nose, Battery, Control, and Propulsion Modules) From this base configuration additional sensor modules can be added All modules are field swappable
6 Shipping Gavia AUV Rotomold Cases Dangerous goods shipping drum for batteries
7 Technical specifications - General Length: From 1.8m (Base Vehicle) Weight in air: From 49 kg 79 kg Diameter: 200mm Depth rating 500m or 1000m Max speed 5.5+ knots Endurance Dependent on configuration and speed Typical: 6 hours at 3 knots (MCM configurations) or 4-5 hours at 3 knots (Survey configuration) with one battery module. This can be augmented by adding an additional battery module or by field swapping battery modules.
8 Gavia Offshore Surveyor The Gavia Offshore Surveyor: Derivative of Gavia line launched in 2009 incorporating features derived from numerous commercial trials and operations with standard Gavia vehicles including: DGPS High visibility yellow / orange paint Modifications to user interface AutoTracker compatible Benefits from over engineering of Gavia system: Extended depth rating, modularity and an array of sensors Typical Offshore Surveyor configuration Offshore Surveyor base vehicle (500m or 1000m depth rating) High-precision DVL aided Inertial Navigation System Swath Bathymetry Module Sub Bottom Profiler Module Side Scan Sonar, Camera Sound Velocity Meter, Obstacle Avoidance Sonar, AUTOTRACKER from SeeByte and Spare battery module
9 Technical specifications - Navigation WAAS / EGNOS GPS as standard 5 meter accuracy DGPS optional using WiFi transmitted correction factors 3 times better accuracy than WAAS GPS 1 2 meter accuracy L1/L2 Antenna already in Antenna Tower ready for P-Code GPS Fluxgate compass and orientation sensor as standard Kearfott T-24/ TRDI DVL-aided Inertial Navigation USBL Aiding using Directional Acoustic Transponder LBL
10 Low Logistics Operations
11 Launch & Recovery
12 Data products: Bathymetry, Side scan. 500kHz GeoSwath Data, Caspian Sea Note AutoTrack behavior as vehicle finds pipeline Thanks to NCS Survey and BP Azerbaijani Subsea Performance Unit for permission to use images
13 Alexander Hamilton GeoSwath Mosaic Data processed in OIC CleanSweep
14 Data products: Sub Bottom Profiler Using Teledyne Benthos CHIRP-III Technology 4 Element Transducer Chirp bands 14 to 21 khz Signal Resolution: 16 bit Pulse length: User selectable msec to 60 msec 5+ meter penetration Selectable rep rate and ping duration
15 Under Ice Mapping Missions UBC-Gavia inverted Under ice side-scan sonar Wadhams et al Swath Bathymetry Under ice visual imaging Doble et al. 2008
16 Gavia Acoustic Navigation Aiding
17 INS/DVL Module Kearfott T-24 aided by 1200KHz Teledyne RDI Workhorse DVL Accuracy with bottomlock: 0.1% of distance traveled
18 Common Implementations of Acoustic Communications
19 Bearing Estimation Directional Acoustic Transponder (DAT) We have developed a precision modembased capability to locate in range and bearing another modem, while still providing all acomms capabilities The US Navy has several programs based on this technology. Japanese researchers are using it for deep ocean AUV control Cleared for Public Release by T eledyne Benthos, Inc. 9/28/11 (FAL1119)
20 Specifications The DAT offers a clear 360 degree field of view in azimuth, and an approximate vertical coverage spanning 100 degrees (from vertical). At modest SNRs our azimuthal and vertical bearing accuracies are approximately ± 2 degree (0.3 degree RMS). Range between two modems is obtained via 2-way messaging. 2-way accuracy is approximately 0.5 meters at all ranges, neglecting propagation effects (e.g., refraction). Slant range is 2 to 6 km depending on geometry and acoustic environment Housed System: 33.9 L x 5.9 max width OEM board set: 8.8 L x 2.8 W by 2.4 H - MF Transducer: ~8 x 2.9 diameter - LF Transducer: ~ 8 x 4.0 diameter OEM Board Set Wet End Only Cleared for Public Release by T eledyne Benthos, Inc. 9/28/11 (FAL1119)
21 Acoustic Communications Present Capabilities (5 khz band, 11.5, 18, 25 khz center frequencies) Multi-channel, MFSK: 140, 300, 600, 800, 1200 bps MPSK: 2560, 5120, 10K bps Differential OFDM (binary, quadrature) : 950, 1850, 3700 bps Range, frequency and condition dependent ~1000m to beyond 6000m Range measurement (0.5 m resolution) with every transmission, Coming Capabilities JANUS 80 bps, open protocol
22 LBL Inertial Aiding Improved navigational accuracy Position corrected for each observation Upper limit on position drift Implemented in 2009 for Linkquest PinPoint 1500 system Ping 1 transponder at a time Allow silent time for acoustic intervention 2012: Tested with Teledyne Benthos SM-975A transponder arrays [1] Olson, E., J. J. Leonard; S. Teller; (2006), Robust Range-Only Beacon Localization. In: IEEE Journal of Oceanic Engineering, vol.31, no.4, pp
23 LBL Field test Typical Lawnmower pattern - 8km track Run twice, with and without LBL system
24 Standard deviation of position plot
25 Field Test: Position adjustments over time
26 Field test: Relocation of Lobster traps
27 Application Case: Traditional USBL Cleared for Public Release by T eledyne Benthos, Inc. 9/28/11 (FAL1119)
28 Traditional USBL based on Teledyne DAT Interrogation ping Ping response Position, timestamp
29 Inverted USBL based on Teledyne DAT (directional transponder on Gavia) Range and Bearing
30 Inverted USBL based on Teledyne DAT Improved navigational accuracy Nav module w USBL Bearing/Range included in messages UUV has sound velocity information Correct for water column conditions High accuracy depth sensor Aided navigation Surface equipment simplified from standard USBL systems Simple transducer on pole or over side towed body Input GPS string and moment arm
31 Speed of sound corrections Manual entry Live SOS measurement Sound velocity meter
32 Summary The Gavia AUV works with various types of acoustic modems and position aiding systems LBL can aid INS positioning, even with a single transponder LBL, USBL and iusbl constrains the INS position error growth This gives improved capability for longer and deeper missions while maintaining position accuracy Future work Trials to put bounds on system performance and behaviour Robust error models for iusbl aided navigation
33 The Networked Future
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