Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle   总被引：1，自引：0，他引：1  

Zyda  M.J. McGhee  R.B. Kwak  S. Nordman  D.B. Rogers  R.C. Marco  D. 《Oceanic Engineering, IEEE Journal of》1990,15(3):217-221

The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected  相似文献   

Geoid Validation on the Baltic Sea Using Ship-borne GNSS Data     

Maaria Nordman  Jaakko Kuokkanen  Mirjam Bilker-Koivula  Hannu Koivula  Pasi Häkli  Sonja Lahtinen 《Marine Geodesy》2013,36(5):457-476

Abstract

We studied geoid validation using ship-borne global navigation satellite systems (GNSS) on the Baltic Sea. We obtained geoid heights by combining GNSS–inertial measurement unit observations, tide gauge data, and a physical sea model. We used two different geoid models available for the area. The ship route was divided into lines and the lines were processed separately. The GNSS results were reduced to the sea surface using attitude and draft parameters available from the vessel during the campaign. For these lines, the residual errors between ellipsoidal height versus geoid height and absolute dynamic topography varied between 0 and 15?cm, grand mean being 2?cm. The mean standard deviations of the original time series were approximately 11?cm and reduced to below 5?cm for the time series filtered with 10?min moving average. We showed that it is possible to recover geoid heights from the GNSS observations at sea and validate existing geoid models in a well-controlled area.  相似文献