1 - 6 of 6 Chapters
[Unmanned Surface Vehicles (USVs) are self contained unmanned untethered vessels that can transit on the surface of the water autonomously or through remote control. Unlike conventional manned surface vessels that are usually large and costly to build and operate, USVs are typically smaller in...
[Guidance and control of an autonomous vehicle requires measurement of its position and motion. To this end, the USV is equipped with instruments that include an Acoustic Doppler Current Profiler (ADCP), Inertial Measurement Unit (IMU), compass, tilt sensor, and Differential Global Positioning...
[The methods developed in this book are used to calculate high rate position and orientation states of a moving body relative to the earth using a comprehensive sensor suite. Unfortunately, the different sensors move relative to each other and measure quantities along different, uncoupled axes....
[This chapter details the experiments used to choose the best data fusion point (Ωc) to obtain the full frequency measure of the ships velocity, VE, and its position, ηE. The first experiment investigates properties of the vertical NED acceleration and different methods available to obtain the...
[This chapter presents the mission at sea conducted for the observation of the motion data acquisition system measurements in the field as well as the collection and correction of unreferenced ADCP data.]
[Unmanned Surface Vehicles (USVs) are self contained unmanned untethered vessels that can transit on the surface of the water autonomously or through remote control. FAU has designed a multi-purpose oceanographic and GATEWAY USV that is a low cost mobile surface platform. Since standard GPS...
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