The autonomous underwater vehicle emergency localization system : an under ice AUV tracking technology for over-the-horizon operations
Notice bibliographique
Résumé
There is an inherent risk of loss that accompanies any operations of Autonomous Underwater Vehicle (AUV) technology. This complexity and risk are increased for AUV missions that are conducted beneath ice and in harsh environmental conditions (i.e. extreme cold, compromised visibility, etc.). Risk-based methodologies have been developed to quantify the risk of loss for specific AUV platforms prior to deployments. Their goal is to identify and mitigate where possible the significant contributors (technical or otherwise) to the overall risk of a specific operation. Not surprisingly, there is an abundant amount of literature related to successful AUV missions; however, there has been very little published work related to AUV loss. Specifically, this author is not aware of any examples of a developed procedure to employ during an AUV loss event to date, much less specific algorithms developed to locate a missing AUV. This is a subset of the AUV tracking or positioning that is rarely given specific treatment. The motivating problem is based on the loss event of an AUV during polar operations. For example, (i) the vehicle might navigate outside of its predefined spatial area through some fault or error, or, (ii) its mission involves over-thehorizon operations, i.e. beyond the range of standard acoustical tracking technologies. In either circumstance, at the end of its pre-programmed mission, the AUV fails to return to the base station. Such an eventuality defines the need for reliable, long-range acoustic tracking capability that is able to coarsely localize the AUV and subsequently enable communications and/or recovery of the AUV. The thesis describes a novel approach for an acoustic positioning system for AUV localization in harsh environments with non-standard acoustic challenges that can be implemented using only basic acoustic technology, a basic singlebeacon, single-hydrophone (SBSH) system. Inversive geometric techniques are applied for source localization of a one-way traveling, asynchronous acoustic signal. This differs from the usual methods of spherical, two-way direct flight measurement based on time of arrival (TOA), or hyperbolic, one-way time difference of arrival (TDOA) target tracking for transmission based on a purely Euclidean geometry. This is a novel approach to the problem of localizing an AUV. A second method of solving the non-linear system of equations that arise from the problem using the SBSH approach is derived. Both methods, the novel Apollonian inversion geometry localization (AIGL) and the non linear system localization (NLSL), are evaluated in simulation and using live field data. It will be shown that the novel algorithm performs comparable to the standard method of solving the nonlinear systems resulting from a SBSH approach. Furthermore, in certain situations it improves the localization result.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,001 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,001 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,001 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».