A Small Autonomous Surface Vehicle for Ocean Color Remote Sensing
A Small Autonomous Surface Vehicle for Ocean Color Remote Sensing
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DOI：
10.1109/joe.2007.893688
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发表时间：
2007-11
影响因子：
4.1
通讯作者：
E. Desa;P. Maurya;A. Pereira;A. Pascoal;R. G. Prabhudesai;A. Mascarenhas;E. Desa;R. Madhan;S. Matondkar;G. Navelkar;S. Prabhudesai;S. Afzulpurkar
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文献类型：
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作者：
E. Desa;P. Maurya;A. Pereira;A. Pascoal;R. G. Prabhudesai;A. Mascarenhas;E. Desa;R. Madhan;S. Matondkar;G. Navelkar;S. Prabhudesai;S. Afzulpurkar
本文提供了关于小型自主地面车辆（ASV）的开发和使用的研究，该车辆自动遵循编程的任务横断面，同时测量沿轨道的传感器输出。它讨论了 ASV 的机械结构、用于科学和车辆有效负载的基于控制器局域网 (CAN) 的节点的分布式架构、高速射频 (RF) 通信、航向自动驾驶仪的性能、基于全球定位系统 (GPS) 的制导算法以及任务编程技术。 ASV 的现场试验在印度果阿沿海进行，重点是检索表面叶绿素的二维空间分布，这是表征海洋遥感需求的校准验证 (CALVAL) 站点性质的有用参数之一。 ASV 的另一个好处是它们可以低成本建造并用于监测不同沿海生态系统的应用。
This paper provides a study on the development and the use of a small autonomous surface vehicle (ASV) that automatically follows programmed mission transects, while measuring sensor outputs along the tracks. It discusses the mechanical construction of the ASV, the distributed architecture of controller area network (CAN)-based nodes for science and vehicle payloads, high-speed radio-frequency (RF) communications, the performance of the heading autopilot, global positioning system (GPS)-based guidance algorithm, and the mission programming technique. The field trials of the ASV, performed off the coast of Goa, India, are focused on retrieving the 2-D spatial distribution of surface chlorophyll, which is one of the useful parameters in characterizing the nature of calibration-validation (CALVAL) sites for ocean remote sensing needs. A further benefit of ASVs is that they can be built at a low cost and used in monitoring applications of diverse coastal ecosystems.