1 Autosub Autosub Mission Planning and Mission Planning and Operations Operations Dr. Miles Pebody Dr. Miles Pebody Ocean Engineering Division Ocean Engineering Division Southampton Oceanography Centre Southampton Oceanography Centre [email protected][email protected]
25
Embed
1 Autosub Mission Planning and Operations Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre [email protected].
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
1
Autosub Autosub Mission Planning and Mission Planning and
OperationsOperations
Dr. Miles PebodyDr. Miles PebodyOcean Engineering DivisionOcean Engineering Division
Southampton Oceanography CentreSouthampton Oceanography Centre
10-14KKz Tracking 10-14KKz Tracking (telemetry in development) (telemetry in development)
7
Pre-Mission PlanningPre-Mission Planning
8
Pre-Mission PlanningPre-Mission Planning
Mission RequirementsMission Requirements Mission NavigationMission Navigation Control ModesControl Modes Autosub Safety IssuesAutosub Safety Issues The Mission End - The Mission End -
RecoveryRecovery
9
Mission RequirementsMission Requirements
Instruments/sensorsInstruments/sensors Data samplingData sampling Area of operationArea of operation Vehicle critical factorsVehicle critical factors
• Power availabilityPower availability• Depth ratingsDepth ratings
10
Mission NavigationMission Navigation
Example: track of 110 km mission off Fort Example: track of 110 km mission off Fort Lauderdale. Coast, Florida.Lauderdale. Coast, Florida.
Waypoint selectionWaypoint selection Co-ordinate SystemCo-ordinate System
• Cartesian (X/Y metre offset)Cartesian (X/Y metre offset)• Polar (latitude/longitude)Polar (latitude/longitude)
Navigation Mode Navigation Mode SelectionSelection• Heading onlyHeading only• Heading to positionHeading to position• Follow track between two Follow track between two
positionspositions
11
Control Modes: Control Modes: Depth/Altitude ControlDepth/Altitude Control
0
5
10
15
De
pth
(m
)
0 300 600 900 1200 1500 1800 2100 2400
Time (s)
Vehicle depth
Water depth
Depth controlDepth control Altitude control - terrain Altitude control - terrain followingfollowing
Autosub can also be programmed to profile Up/Down at Autosub can also be programmed to profile Up/Down at constant pitch anglesconstant pitch angles
12
Mission Safety IssuesMission Safety Issues
• In water obstaclesIn water obstacles• Terrain - vehicle pitch controlTerrain - vehicle pitch control• Surfacing zonesSurfacing zones• Mission depth and altitude limitsMission depth and altitude limits• Emergency abort timeoutsEmergency abort timeouts
13
Mission Preparation and Mission Preparation and InitiationInitiation
14
Mission Preparation and Mission Preparation and InitiationInitiation
Local ARGOS tracking to horizonLocal ARGOS tracking to horizon Surface radio telemetry within 0.5 KmSurface radio telemetry within 0.5 Km Acoustic Telemetry within 1 Km (soon Acoustic Telemetry within 1 Km (soon
6Km)6Km) Acoustic tracking within 8 KmAcoustic tracking within 8 Km
21
Mission End and Post MissionMission End and Post Mission
Logger Data RecoveryLogger Data Recovery Autosub RecoveryAutosub Recovery Navigation Postprocessing and Navigation Postprocessing and
Engineering data examinationEngineering data examination
22
The EndThe End
Dr. Miles PebodyDr. Miles PebodyOcean Engineering DivisionOcean Engineering Division
Southampton Oceanography CentreSouthampton Oceanography Centre
GPS or DGPS fixes on the surface update the position GPS or DGPS fixes on the surface update the position estimate.estimate.
Special Navstar GPS antenna overcomes problems Special Navstar GPS antenna overcomes problems of washover on tail mounted antenna.of washover on tail mounted antenna.Broadcast (300 kHz) DGPS corrections used.Broadcast (300 kHz) DGPS corrections used.
Uses RDI 300kHz Doppler sonar (250 m range) for Uses RDI 300kHz Doppler sonar (250 m range) for velocity.& Seatex MRU6 compass for rotation into earth velocity.& Seatex MRU6 compass for rotation into earth co-ordinates.co-ordinates.
Biggest problem is heading dependent compass errors. Biggest problem is heading dependent compass errors.
Errors can be substantially reduced to about 0.5-1% of Errors can be substantially reduced to about 0.5-1% of distance travelled with calibration.distance travelled with calibration.
Calibration involves a short box mission.Calibration involves a short box mission.
24
Autosub Systems: Autosub Systems: Heading ControlHeading Control
• HeadingHeading
• Line Of Sight Line Of Sight - (- (Head towards demanded Waypoint)Head towards demanded Waypoint)..
• Track FollowTrack Follow- (- (Follow Straight Line Track Between Follow Straight Line Track Between
Two Waypoints). Two Waypoints).
Modes of Operation.Modes of Operation.
25
Future DevelopmentsFuture Developments
Integrated mission planning tools including mission Integrated mission planning tools including mission simulation and replay.simulation and replay.
Modify Mission Control and Emergency Abort for the Modify Mission Control and Emergency Abort for the more complex environment of under-ice missions.more complex environment of under-ice missions.