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Autosub Mission Planning and Operations

Autosub Mission Planning and Operations. Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre M.Pebody@soc.soton.ac.uk. Overview. Equipment Pre-Mission Planning Mission Preparation and Initiation Mission End and Post Mission. Equipment.

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Autosub Mission Planning and Operations

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  1. Autosub Mission Planning and Operations Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre M.Pebody@soc.soton.ac.uk

  2. Overview • Equipment • Pre-Mission Planning • Mission Preparation and Initiation • Mission End and Post Mission

  3. Equipment

  4. Equipment: Computing Resources • Three Networked PCs • Mission programming, mission management and vehicle telemetry. • Acoustic Tracking • Data Processing Tershelling April 2000

  5. Equipment: On Surface Communications • Lonworks VHF Radio Modem (range 0.5Km) • Ethernet VHF Radio Modem (range 0.5Km) • Orbcomm Satellite Communications • Argos Satellite Tracking

  6. Equipment: Subsurface Communications • 23-33KHz Acoustic Tracking, Telemetry and Commands • 10-14KKz Tracking (telemetry in development)

  7. Pre-Mission Planning

  8. Pre-Mission Planning • Mission Requirements • Mission Navigation • Control Modes • Autosub Safety Issues • The Mission End - Recovery

  9. Mission Requirements • Instruments/sensors • Data sampling • Area of operation • Vehicle critical factors • Power availability • Depth ratings

  10. Mission Navigation • Waypoint selection • Co-ordinate System • Cartesian (X/Y metre offset) • Polar (latitude/longitude) • Navigation Mode Selection • Heading only • Heading to position • Follow track between two positions Example: track of 110 km mission off Fort Lauderdale. Coast, Florida.

  11. Control Modes: Depth/Altitude Control Depth control Altitude control - terrain following Autosub can also be programmed to profile Up/Down at constant pitch angles

  12. Mission Safety Issues • In water obstacles • Terrain - vehicle pitch control • Surfacing zones • Mission depth and altitude limits • Emergency abort timeouts

  13. Mission Preparation and Initiation

  14. Mission Preparation and Initiation • Mission Script • Configuration Script • Mission Script Checking • Pre-Launch Tasks • Post-Launch / Pre-Start Tasks

  15. Mission Simulation Warnings Radio Modem Down-loader Mission Compiler History File Go! Stop Mission Commander + Monitor Operations: Mission Preparation Mission Script Editor Configuration Editor Control parameters Sensor parameters Safety limits EAS timers + limits

  16. Operations: The Mission Script // When satisfactory GPS fix has been acquired dive and track follow: // Set timeout to 500 seconds. WHEN( GotGPSfix) // When GPS fix acquired ……… Timer( 500), // Set timeout of 500 seconds. Depth( 10), // Set depth mode to 10 metres. MotorPower( 400), // Set motor mode to Power 400 Watts. PositionP( N:56:27.5, W:5:29.4); // Set position mode and demand // Next line, when reached end of the track …… WHEN( GotPosition) // When Got there (OR timeout) ………

  17. Now we use a gantry system. Operations: The Launch • Early launches through ship’s ‘A’ Frame.

  18. Operations: Monitoring unattended missions Orbcommdata link Text messageon cell phone GPS Orbcomm GPSposition Status message Terschelling Autosub campaign March 00

  19. Mission End and Post Mission

  20. Mission End: Autosub Relocation. • Local ARGOS tracking to horizon • Surface radio telemetry within 0.5 Km • Acoustic Telemetry within 1 Km (soon 6Km) • Acoustic tracking within 8 Km

  21. Mission End and Post Mission • Logger Data Recovery • Autosub Recovery • Navigation Postprocessing and Engineering data examination

  22. The End Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre M.Pebody@soc.soton.ac.uk

  23. Autosub Systems: Navigation • GPS or DGPS fixes on the surface update the position estimate. • Special Navstar GPS antenna overcomes problems of washover on tail mounted antenna. • Broadcast (300 kHz) DGPS corrections used. • Uses RDI 300kHz Doppler sonar (250 m range) for velocity.& Seatex MRU6 compass for rotation into earth co-ordinates. • Biggest problem is heading dependent compass errors. • Errors can be substantially reduced to about 0.5-1% of distance travelled with calibration. • Calibration involves a short box mission.

  24. Autosub Systems: Heading Control Modes of Operation. • Heading • Line Of Sight - (Head towards demanded Waypoint). • Track Follow - (Follow Straight Line Track Between Two Waypoints).

  25. Future Developments • Integrated mission planning tools including mission simulation and replay. • Modify Mission Control and Emergency Abort for the more complex environment of under-ice missions. • Power source - fuel cells, semi-fuel cells. • Improved Collision Avoidance in the horizontal plane. • Improved Navigation. Use Ring Laser Gyro based INS. From 1% to 0.1% of distance traveled. • Improved Acoustic Communications and Location.

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