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Wave Glider System for Real-Time Range Tracking
| Content Provider | Semantic Scholar |
|---|---|
| Author | Cervino, Noel P. Douglas, Andre M. |
| Copyright Year | 2017 |
| Abstract | The Wave Glider system is a proof-of-concept project to demonstrate a platform for rapidly fielding new flight-test sensor systems. Wave Glider is intended to be a lower-cost replacement for existing systems that measure the launch and impact area performance of submarinelaunched ballistic missiles. For this project, the Johns Hopkins University Applied Physics Laboratory (APL) team modified a commercial wave glider system—which went from concept to demonstration in less than 4 months and contained sensors to record optical full-motion video, S-band telemetry, and hydroacoustic data—and demonstrated the enhanced Wave Glider in both launch and impact areas. This article describes the Wave Glider’s potential as a unique platform suitable for long-duration missions, and it demonstrates APL’s ability to rapidly develop and field solutions. It discusses launch and recovery challenges, as well as piloting as a key factor for mission success. This article demonstrates the Wave Glider platform’s potential to replicate the functionality of the multiple systems currently used. Because of the system’s flexibility, multiple heterogeneous sensor systems can be hosted by a single Wave Glider, further simplifying the architecture of the range system. Future plans for the system include demonstrating additional capabilities for operations relevant to the launch area of submarinelaunched ballistic missiles, such as autonomous navigation of multiple assets, acoustic ranging, and two-way communications. This article provides an overview of the Wave Glider and describes the modifications the Johns Hopkins University Applied Physics Laboratory (APL) team incorporated to support specific mission requirements. Challenges with the platform are discussed, and examples of the data collected are shown. Possible future platform concepts are presented. INTRODUCTION The Wave Glider project’s primary goal is to localize a ballistic missile submarine (SSBN) in real time during test launches and generate high-resolution data to support stringent post-processing requirements. This information, which is used to determine the initial condition of the submarine, including its position and velocity, provides input for the accuracy analysis of the Trident II missile. Wave Glider System for Real-Time Range Tracking Johns Hopkins APL Technical Digest, Volume 33, Number 4 (2017), www.jhuapl.edu/techdigest 251 SYSTEM DESCRIPTION The Wave Glider is an autonomous surface vehicle developed by Liquid Robotics, Inc., to monitor oceanographic activity throughout the world. It is currently primarily used by the oil and gas industry to monitor offshore structures and communicate with subsea wellheads. Propelled by wave motion and powered by solar energy, the Wave Glider has an impressive endurance, up to a year at sea, making it highly attractive for longterm monitoring operations. The endurance is only limited by the effect of marine growth (biofouling) on the propulsion of the system. As shown in Fig. 1, three major components make up the Wave Glider: the surface float, the subsurface glider, and the tow fish that are connected by an umbilical and tow cable. The float contains a modular payload bay for the command and control unit (CCU), auxiliary power units, and enduser equipment. The CCU and auxiliary power units contain lithium ion batteries for long-term energy storage; they are recharged by solar panels attached to the surface of the float. Various masts and antennas are also mounted on the deck for communication, positioning, and weather monitoring. The float contains a recovery buoy that is ejected from the aft end of the float to ease recovery of the system. The glider comprises a solid metal body and carbon fiber wings. Position A in Fig. 2 shows the glider descending as the surface float rides down a wave. As the glider descends, the wings propel the system forward. Similarly, when the surface float rides over a wave, it pulls the glider up through the water, which induces forward motion. The wave motion propels the Wave Glider at an average speed of between 1 and 2 knots. At the rear of the glider is a “thrudder” (thruster-rudder) that is used to both steer and thrust the entire assembly through the ocean. When the Wave Glider’s speed through water is not sufficient, the thruster can be enabled for additional proSolar panels |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.jhuapl.edu/techdigest/TD/td3304/33_04-Cervino.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
