Optical Detector Array Design for Navigational Feedback Between Unmanned Underwater Vehicles (UUVs)
| Autor: | Yuri Rzhanov, Shachak Pe'eri, May-Win L. Thein, Firat Eren, Barbaros Celikkol |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
Engineering
010505 oceanography Noise (signal processing) business.industry Mechanical Engineering Detector Optical communication Ocean Engineering 01 natural sciences Computer Science::Robotics 010309 optics 0103 physical sciences Electronic engineering Unmanned underwater vehicle Electrical and Electronic Engineering Docking station Underwater business Rotation (mathematics) Light field 0105 earth and related environmental sciences |
| Zdroj: | IEEE Journal of Oceanic Engineering. 41:18-26 |
| ISSN: | 2373-7786 0364-9059 |
| Popis: | Designs for an optical sensor detector array for use in autonomous control of unmanned underwater vehicles (UUVs), or between UUVs and docking station, are studied in this paper. Here, various optical detector arrays are designed for the purpose of determining and distinguishing relative 5 degrees-of-freedom (DOF) motion between UUVs: 3-DOF translation and 2-DOF rotation (pitch and yaw). In this paper, a numerically based simulator is developed to evaluate varying detector array designs. The simulator includes a single light source as a guiding beacon for a variety of UUV motion types. The output images of the light field intersecting the detector array are calculated based on detector hardware characteristics, the optical properties of water, and expected noise sources. Using the simulator, the performance of planar and curved detector array designs (of varying size arrays) are analytically compared and evaluated. Output images are validated using empirical in situ measurements conducted in underwater facilities at the University of New Hampshire, Durham, NH, USA. Results of this study show that the optical detector array is able to distinguish relative 5-DOF motion with respect to the simulator light source. Furthermore, tests confirm that the proposed detector array design is able to distinguish positional changes of 0.2 m and rotational changes of 10 $^{\circ}$ within 4–8 m range in x-axis based on given output images. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|