Introduction to an AUV "r2D4" and its Kuroshima Knoll Survey Mission
Introduction to an AUV "r2D4" and its Kuroshima Knoll Survey Mission
复制标题
DOI：
10.1109/oceans.2004.1405568
复制
发表时间：
2004-11
期刊：
影响因子：
--
通讯作者：
T. Ura;T. Obara;K. Nagahashi;K. Kim;Y. Oyabu;T. Sakamaki;A. Asada;H. Koyama
中科院分区：
文献类型：
--
作者：
T. Ura;T. Obara;K. Nagahashi;K. Kim;Y. Oyabu;T. Sakamaki;A. Asada;H. Koyama
本文介绍了一种新型的水下航行器r2D4，阐述了其在黑岛小丘的探测任务。r2D4作为“R-One Robot”水下航行器的继承者，由东京大学IIS设计，MES建造，主要任务是深海海底调查和水下航行器情报。r2D4是一种高度可靠的水下航行器，其长度为4.4 (m)，具有足够的紧凑性和多功能能力，最大作业深度可达4000 (m)。r2D4的第一次海试在骏河湾进行，2003年7月。2003年12月，r2D4在日本海佐渡岛附近进行勘探后，被派往黑岛小丘进行调查。在黑岛任务中，通过r2D4的操作获得了高质量的干涉声呐海底声学图像，只有通过精确和鲁棒的姿态控制才能实现。现场位置误差校正方法在黑岛丘陵任务中得到了发展和验证。在本次修正中，在最优估计SSBL位置的基础上，对实际车辆轨迹进行回归，估计参考路径点与实际形成路径点之间的偏差。在Kuroshima Knoll调查任务成功的基础上，r2D4将被部署在马里亚纳弧后盆地，以发现新活化的热液喷口。
In this paper, a newly developed AUV "r2D4" is introduced and its mission of surveying Kuroshima Knoll is addressed. As the successor of the AUV "R-One Robot", r2D4 was designed by IIS, the University of Tokyo, and constructed by MES, with the primary missions being the investigation of deep sea bottom and AUV intelligence. r2D4 is a highly reliable AUV with its length of 4.4 (m), demonstrating sufficient compactness as well as multifunctional capabilities and large maximum operating depth of 4000 (m). The first sea trial of r2D4 was carried out at Suruga Bay, July 2003. After the exploration off Sado Island in the Sea of Japan, r2D4 was deployed for the investigation of Kuroshima Knoll in December 2003. During Kuroshima mission, high quality acoustic images of seabed using interferometry sonar were obtained through the operation of r2D4, which could only be achieved by accurate and robust attitude control. The method of on-site position error correction was developed and testified during the Kuroshima Knoll mission. In this correction, based on the optimal estimation of SSBL position, regressions of actual vehicle trajectories are carried out to estimate the deviation between reference and actually formed way points. On the basis of the success in Kuroshima Knoll survey mission, r2D4 would be deployed in Mariana back-arc basin, toward the discovery of newly activated hydrothermal vents.