Provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its control and navigation. An attempt is made to highlight its current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multirate, multiprocess software architecture for the ARIES is provided. The architecture is designed to operate using either a single computer processor or two independent, cooperating processors linked through a network interface for improved load balancing. A dual computer implementation is presented since each processor assumes different tasks for mission operation. Also included is a section on the underwater navigation method using a real-time extended Kalman filter that fuses all sensor data and computes the real time position, orientation and velocity. Experimental results for navigational accuracy using a DGPS/IMU/Doppler-aided navigation system are presented with DGPS pop-up maneuvers. Navigational accuracy is a requirement for the use of ARIES as a mobile communications network node. This work provides some examples of missions possible with such a node and the current state of its command and control system.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Command, control, and navigation experimental results with the NPS ARIES AUV


    Beteiligte:
    Marco, D.B. (Autor:in) / Healey, A.J. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2001


    Format / Umfang :

    11 Seiten, 11 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    ARIES Kick Stage

    R. G. Starke | NTIS | 1977


    Kurzanalyse MS >>Aries<<

    Online Contents | 1995


    The Aries petrol cars

    Engineering Index Backfile | 1907


    Remote launches of Aries

    KOMETANI, G. | AIAA | 1986