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Sensors 2017, 17(8), 1741; doi:10.3390/s17081741

Position, Orientation and Velocity Detection of Unmanned Underwater Vehicles (UUVs) Using an Optical Detector Array

1
Center for Coastal and Ocean Mapping, University of New Hampshire, 24 Colovos Road, Durham, NH 03824, USA
2
National Oceanic and Atmospheric Administration (NOAA), 1315 East West Highway, Silver Spring, MD 20910, USA
3
Department of Mechanical Engineering, University of New Hampshire, 33 Academic Way, Durham, NH 03824, USA
*
Author to whom correspondence should be addressed.
Received: 30 June 2017 / Revised: 26 July 2017 / Accepted: 27 July 2017 / Published: 29 July 2017
(This article belongs to the Special Issue Marine Sensing)
View Full-Text   |   Download PDF [5754 KB, uploaded 29 July 2017]   |  

Abstract

This paper presents a proof-of-concept optical detector array sensor system to be used in Unmanned Underwater Vehicle (UUV) navigation. The performance of the developed optical detector array was evaluated for its capability to estimate the position, orientation and forward velocity of UUVs with respect to a light source fixed in underwater. The evaluations were conducted through Monte Carlo simulations and empirical tests under a variety of motion configurations. Monte Carlo simulations also evaluated the system total propagated uncertainty (TPU) by taking into account variations in the water column turbidity, temperature and hardware noise that may degrade the system performance. Empirical tests were conducted to estimate UUV position and velocity during its navigation to a light beacon. Monte Carlo simulation and empirical results support the use of the detector array system for optics based position feedback for UUV positioning applications. View Full-Text
Keywords: optical detector array; Unmanned Underwater Vehicles; optical communication; pose detection optical detector array; Unmanned Underwater Vehicles; optical communication; pose detection
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MDPI and ACS Style

Eren, F.; Pe’eri, S.; Thein, M.-W.; Rzhanov, Y.; Celikkol, B.; Swift, M.R. Position, Orientation and Velocity Detection of Unmanned Underwater Vehicles (UUVs) Using an Optical Detector Array. Sensors 2017, 17, 1741.

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