NDLI: Magnetic anomaly guidance system for mine countermeasures using autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Wiegert, R.
Copyright Year	2003
Description	Author affiliation: Dahlgren Div., Naval Surface Warfare Center, Panama City, FL, USA (Wiegert, R.)
Abstract	This paper describes a magnetic anomaly guidance system that, with support from the Office of Naval Research, is being developed for fully autonomous detection, localization and classification of ferrous mines in Very Shallow Water/Surf Zone (VSW/SZ) environments. The magnetic guidance system's hardware configurations and magnetic target signature processing methods specifically have been developed for autonomous guidance of small, maneuverable sensing platforms, such as Underwater Bottom Vehicles, (UBVs), to magnetic targets. The prototype magnetic anomaly guidance is a three-axis magnetometer-gradiometer comprised by an array of triaxial fluxgate magnetometers and triaxial accelerometers. This design allows development of magnetic gradient tensor contraction scalars that provide the basis for a unique method for magnetic guidance of UBVs to underwater and buried mines. The triaxial accelerometer array can be used for mitigation of the target-detection-range-reducing effects of large changes in sensor platform orientation. Field test results indicate that a simple magnetic guidance algorithm based on comparison of the magnitudes of contractions of gradient tensor subsets measured by "primary guidance axes" of the sensor array will provide a robust and practical method for fully autonomous guidance of highmobility UBVs to magnetic targets. Target detection range can be enhanced by using rotationally invariant tensor contractions for robust proximity sensing and "pseudo-robust" scalar total field quantities for "homing in on" magnetic targets. Sensor system stability and DLC performance also would be improved by the use of better, temperature-compensated magnetometers. The results indicate that the magnetic anomaly guidance system and its method for target localization are particularly appropriate for homing in on magnetic targets from high-mobility sensing platforms such as small UBVs or Navy Divers.
Sponsorship	Dept. of the Navy Sci. and Technol. Coalition for Enhanced Marine Resources Orincon Ceros Harbour Offshore Inc
Starting Page	2002
Ending Page	2010
File Size	625253
Page Count	9
File Format	PDF
ISBN	0933957300
DOI	10.1109/OCEANS.2003.178206
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Navigation Underwater vehicles Sensor arrays Magnetometers Tensile stress Accelerometers Magnetic sensors Robustness Hardware Remotely operated vehicles
Content Type	Text
Resource Type	Article

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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
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