SGER:An Iceberg-Relative Navigation System: Feasibility Demonstration

SGER：冰山相关导航系统：可行性论证

• 批准号: 0811399
• 负责人: Stephen Rock
• 金额: --
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-03-15 至 2009-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0811399&HistoricalAwards=false
• 关键词: SGER; Iceberg; Relative; Navigation; System

The project will support an initial, limited field-test of a new navigation capability for autonomous underwater vehicles (AUVs) operating under icebergs and ice shelves. This system will enable an AUV to navigate and position itself with-respect-to a moving ice surface, rather than with-respect-to the seafloor and/or an inertial reference frame. Expected ice motion includes both translation and rotation. To achieve this goal, maps will be generated of submerged ice surfaces, and real-time algorithms which compute the AUV's ice-relative position using sonar soundings of those surfaces will be developed and demonstrated. This capability will augment all existing AUV under-ice navigation techniques. The system will generate maps that allow a science team to select and visit under-ice sites (either with an AUV or an ROV) by providing a much broader perspective of the submerged ice surface than has ever been possible before. It will also be possible to return to specific sites for experimentation and serial observations, and includes the ability to hold station in support of imaging and sampling missions. It will also increase the safety of AUV operations in these hazardous environments. Field tests will be performed during an already funded cruise to study icebergs in the Antarctic.

该项目将支持对在冰山和冰架下运行的自主水下航行器（AUV）的新导航能力进行初步、有限的现场测试。 该系统将使 AUV 能够相对于移动的冰面而不是相对于海底和/或惯性参考系进行自身导航和定位。 预期的冰运动包括平移和旋转。为了实现这一目标，将生成水下冰面的地图，并开发和演示使用这些表面的声纳探测来计算 AUV 的冰相对位置的实时算法。 该功能将增强所有现有 AUV 冰下导航技术。该系统将生成地图，通过提供比以往更广阔的冰面表面视角，使科学团队能够选择和访问冰下地点（使用 AUV 或 ROV）。 它还可以返回特定地点进行实验和连续观测，并包括保持空间站以支持成像和采样任务的能力。 它还将提高 AUV 在这些危险环境中作业的安全性。现场测试将在已经资助的南极冰山研究巡航期间进行。