Evaluation of the Utility and Performance of an Autonomous Surface Vehicle for Mobile Monitoring of Waterborne Biochemical Agents
Evaluation of the Utility and Performance of an Autonomous Surface Vehicle for Mobile Monitoring of Waterborne Biochemical Agents
复制标题
用于水生生化剂移动监测的自主地面车辆的效用和性能评估
作者：
Jessica Simmerman;G. D. Chesser;J. Lowe;Jane Moorhead;Wondimagegn T. Beshah;G. Turnage;P. Dash;M. S. Sankar;R. Moorhead;James Herman
由于土地利用的增加，地表水径流可能对水生生态系统产生不利影响，因此，对内陆和沿海海洋环境中的水质进行实时监测和管理的必要性越来越大。传统的水质监测方法既费力又昂贵，需要在固定地点设立现场监测站和/或专门的载人船取样任务，并对水样进行实验室分析。这些传统的方法在收集高分辨率时空数据的能力方面受到限制。多用途自主式水面航行器（ASV）为传感器/仪器提供动力平台，并作为移动的采样站，增强空间和时间数据收集能力。太阳能ASV提供长续航时间的连续操作能力。然而，商业上可用的太阳能ASV是有限的，ASV自动驾驶仪的导航精度受到环境力量（风、水流和波浪）的影响，这些力量可能会改变规划路径的轨迹，并对水质数据的时空分辨率产生负面影响。这项研究证明了配备多传感器有效载荷的市售太阳能ASV自主操作的能力，以在不同的环境条件下准确和重复地保持既定的AB线横断面，其中测量与计划线性路线的横向偏差并表示为交叉跟踪误差（XTE）。平均XTE不超过2.39 m。这项工作提供了一个概念框架的空间和时间分辨率的限制ASV的实时监测活动和未来的发展避障和自适应采样技术的发展。
The need for real-time monitoring and management of water quality in inland and coastal marine environments is increasingly significant due to increases in land utilization which can negatively impact aquatic ecosystems from surface water runoff. Conventional water quality monitoring methodologies are laborious and expensive, requiring in situ monitoring stations and/or specialized manned vessel sampling missions at fixed locations and resultant laboratory analysis of water samples. These conventional methods are limited in their ability to gather high resolution spatiotemporal data. Multi-purpose autonomous surface vehicles (ASVs) provide a powered platform for sensors/instrumentation and serve as mobile sampling stations that enhance spatial and temporal data gathering capabilities. Solar powered ASVs provide long endurance continuous operations capabilities. However, commercially available solar powered ASVs are limited, and ASV autopilot navigational accuracy is affected by environmental forces (wind, current, and waves) that can alter trajectories of planned paths and negatively affect spatio-temporal resolution of water quality data. This study demonstrated the ability of a commercially available solar powered ASV equipped with a multi-sensor payload to operate autonomously to accurately and repeatedly maintain established AB line transects under varying environmental conditions, where lateral deviation from a planned linear route was measured and expressed as cross-track error (XTE). Mean XTE did not exceed 2.39 m. This work provides a conceptual framework for development of spatial and temporal resolution limitations of ASVs for real-time monitoring campaigns and future development of obstacle avoidance and adaptive sampling technologies.