A Navigation Solution Using a MEMS IMU

A Navigation Solution Using a MEMS IMU

Instructions/Descriptions

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Question:

Curious if all UUVs try to not surface to reveal GPS data or is that specific only to military UUVs? Is there no similarity of autonomy between the two?

Maritime unmanned systems take the form of autonomous underwater vehicles. These are developed with specifications to perform unique tasks with the incorporation of different technologically diverse components that work together to suit the underwater environment. Unlike the other types of unmanned systems, autonomous underwater vehicles operate in an entirely different environment which makes the use of GPS tracking unreliable based on the fact that radio waves do not entirely penetrate the water surface. For the control of their navigation, dead reckoning is employed as a standard navigation alternative to surfacing and revealing the GPS position. Dead reckoning is a technique that tries to predict the point in the navigation of an autonomous underwater vehicle based on speed, time and the set navigation course (Kepper IV, Claus & Kinsey, 2018). The navigation control can further be improved where baseline transponders at the seafloor are installed. The Inertial Navigation System that is fixed onboard the autonomous underwater vehicle facilitates dead reckoning.

The unmanned ground vehicle, on the other hand, contacts the ground and provides a variety of navigation controls. An autonomous unmanned ground vehicle uses the artificial intelligence it is fed with to make its own decisions from interpretations sourced as a result of its sensors. Where control in their navigation is needed, they can be remotely operated through an interface by a human operator with onboard visual aids with the example of a digital video camera (Malon et al., 2018). The human operator will have a joystick, a combination of computer programs to convert logic to operation signals, or even, based on the diversity of the supported input architecture, he can even have voice command. The unmanned ground vehicle mostly utilizes the GPS location functionality to identify its geographical predisposition, a functionality that is precise and less complex when compared to the dead reckoning feature for the autonomous underwater vehicle. It can also receive navigational instructions from unmanned aerial vehicles such as drones which take detailed pictures of the terrain and transmit these images to the unmanned ground vehicle for further analysis. This is where the artificial intelligence that is fed to the autonomous ground vehicle is applied.

Based on the environment that an unmanned vehicle traverses, its features are specified, which highly define the design attributes to be realized. An autonomous underwater vehicle will have pressure-related characteristics to counter the adverse pressure changes it is subjected to as it traverses different depths. The unmanned ground vehicle, on the other hand, will employ indestructible airless tires to efficiently navigate through the varieties of harsh terrain. Regardless, these features play vital roles in the realization of the specific functions that an unmanned vehicle is designed to accomplish. The diversity of the technical requirements that compose the various hardware and software components is dependent on the operational objective that the unmanned vehicle is to achieve.

References

Kepper IV, J. H., Claus, B. C., & Kinsey, J. C. (2018). A Navigation Solution Using a MEMS IMU, Model-Based Dead-Reckoning, and One-Way-Travel-Time Acoustic Range Measurements for Autonomous Underwater Vehicles. IEEE Journal of Oceanic Engineering.

Malon, K., Łopatka, J., Rykala, Ł., & Łopatka, M. (2018, October). Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles. In 2018 New Trends in Signal Processing (NTSP) (pp. 1-7). IEEE.

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