NDLI: Experimental results of an inexpensive short baseline acoustic positioning system for AUV navigation

Content Provider	IEEE Xplore Digital Library
Author	Smith, S.M. Kronen, D.
Copyright Year	1997
Description	Author affiliation: Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA (Smith, S.M.)
Abstract	The Ocean Engineering Department at Florida Atlantic University (FAU) and the Naval Postgraduate have implemented AUV acoustic positioning systems based on the Desert Star Dive Tracker short base line (SBL) system. The motivation for these implementation efforts was to develop a short range, inexpensive, but relatively high precision navigation system for each institution's autonomous underwater vehicles (AUVs). In the NPS case the SBL system is to support navigation of their Phoenix vehicle in mine reconnaissance type missions where the vehicle needs to more precisely locate obstacles and mine like objects. In the FAU case the SBL system is to support guidance of the Ocean Explorer (OEX) vehicle in rendezvous and docking maneuvers. The Dive Tracker SBL can produce supposed positioning accuracies on the order of 6" rms. FAU has build a portable easily deployed collapsible frame for supporting 3 SBL transducers or beacons. The frame is arranged in star that is anchored to the bottom. The baseline between transducers is approximately 20 ft. The OEX carries a transducer and electronics that compute its position relative to the baseline. A docking target placed near the baseline and anchored to the bottom. The location of the target is then determined by manually positioning the AUV transducer at the target and taking SBL fixes, A series of at-sea tests of this system have been conducted. This paper presents results of the at sea tests of this positioning system off the coast of Boca Raton Florida. The analysis will comment on the efficacy of this type of system for guidance of small AUVs in docking maneuvers.
Starting Page	714
Ending Page	720
File Size	589833
Page Count	7
File Format	PDF
ISBN	0780341082
DOI	10.1109/OCEANS.1997.634454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-10-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Transducers Navigation Oceans Remotely operated vehicles System testing Acoustical engineering Underwater acoustics Underwater tracking Underwater vehicles Reconnaissance
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in