1. Underwater Vehicle Navigation Techniques
Stingray
Underwater Vehicle Navigation Techniques
Chris Barngrover
CSE 237D

2. Unmanned Vehicle Navigation
Most funding goes to UAVs followed by UGVs
Lots of UUV applications (e.g. Moorea)
GPS is easiest way to know location, but this fails underwater
Need to use other techniques

3. Navigation Techniques
Dead Reckoning
Inertial Navigation System (INS)
Doppler Velocity Log (DVL)
Acoustic Techniques
Long Baseline (LBL)
Ultra-short Baseline (USBL)
Geophysical (a priori maps)
Computer Vision

4. Navigation Techniques
Dead Reckoning
Inertial Navigation System (INS)
Doppler Velocity Log (DVL)
Acoustic Techniques
Long Baseline (LBL)
Ultra-short Baseline (USBL)
Geophysical (a priori maps)
Computer Vision

5. Stingray Microstrain 3DM-GX1 INS SSI Technologies Pressure Sensor
2 Remote Ocean System CE-X-18
Underwater Cameras
OpenCV Library

6. Short Term Goals Convert pressure sensor data to depth
Develop module that subscribes to INS, depth, and vision data
Develop a Kalman filter to create position estimation
Use vision techniques to rectify position estimation

7. Accomplishments
Incorporated Planner Module

8. Stingray Network

9. Stingray Network - Planner

10. Accomplishments
Incorporated Planner Module
Developed LPS Module

11. Stingray Network

12. Stingray Network - LPS

13. Accomplishments Incorporated Planner Module Developed LPS Module
Researched pressure to depth conversion

14. Accomplishments Incorporated Planner Module Developed LPS Module
Researched pressure to depth conversion
Researched Kalman filter techniques

15. Schedule 05.14 – Log INS data in lab
05.16 – Test depth calibration and conversion
05.21 – Kalman Filter v1
05.27 – Kalman Filter v2
05.29 – CV Rectification v1
06.02 – CV Rectification v2
06.04 – Final Report
Bonus: Visualization Tool

16. Questions