Long‐baseline acoustic navigation for under‐ice autonomous underwater vehicle operations
Long‐baseline acoustic navigation for under‐ice autonomous underwater vehicle operations
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DOI：
10.1002/rob.20250
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发表时间：
2008
影响因子：
8.3
通讯作者：
M. Jakuba;C. Roman;Hanumant Singh;Chris Murphy;C. Kunz;C. Willis;Taichi Sato;R. Sohn
中科院分区：
文献类型：
--
作者：
M. Jakuba;C. Roman;Hanumant Singh;Chris Murphy;C. Kunz;C. Willis;Taichi Sato;R. Sohn
2007年7月至8月，瑞典破冰船“奥登号”（I/B Oden）在北冰洋的盖克尔山脊（GAkkel Ridge）上进行了北极盖克尔通风口考察（AGAVE），使用自主水下航行器（auv）进行了水柱和海底调查。这些测量在迄今为止的AUV作业中是独一无二的，因为它们需要在永久和移动冰盖下的海底附近进行地理参考导航。我们报告了在海底附近自主冰下调查期间的长基线（LBL）声学导航结果，以及LBL概念在几种典型操作情况下的适应性，包括在车辆回收期间靠近船舶的导航。固定的海底应答器从船上自由落体部署，用于深度定位。船上的直升机收集了几个地点的声波传播时间，以参考应答器的位置，这取决于冰面上是否有开口。悬挂在船上的两个浅信标以船舶相对坐标提供近水面球面导航。在常规的回收过程中，我们使用该系统将车辆导航到船附近的开阔水域，然后命令它们浮出水面。在车辆受损的情况下，其位置仍然通过声学调制解调器、固定海底应答器、船舶部署应答器和机载备用中继应答器的某种组合来确定。所采用的技术包括适用于移动原点的测距和双曲线导航。©2008 Wiley期刊公司
The recent Arctic GAkkel Vents Expedition (AGAVE) to the Arctic Ocean's Gakkel Ridge (July/August 2007) aboard the Swedish icebreaker I/B Oden employed autonomous underwater vehicles (AUVs) for water‐column and ocean bottom surveys. These surveys were unique among AUV operations to date in requiring georeferenced navigation in proximity to the seafloor beneath permanent and moving ice cover. We report results for long‐baseline (LBL) acoustic navigation during autonomous under‐ice surveys near the seafloor and adaptation of the LBL concept for several typical operational situations including navigation in proximity to the ship during vehicle recoveries. Fixed seafloor transponders were free‐fall deployed from the ship for deep positioning. The ship's helicopter collected acoustic travel times from several locations to georeference the transponders' locations, subject to the availability of openings in the ice. Two shallow beacons suspended from the ship provided near‐surface spherical navigation in ship‐relative coordinates. During routine recoveries, we used this system to navigate the vehicles into open water near the ship before commanding them to surface. In cases in which a vehicle was impaired, its position was still determined acoustically through some combination of its acoustic modem, the fixed seafloor transponders, the ship‐deployed transponders, and an onboard backup relay transponder. The techniques employed included ranging adapted for a moving origin and hyperbolic navigation. © 2008 Wiley Periodicals, Inc.