DocumentCode :
975609
Title :
A Small Autonomous Surface Vehicle for Ocean Color Remote Sensing
Author :
Desa, E. ; Maurya, P.K. ; Pereira, Antonio ; Pascoal, Antonio M. ; Prabhudesai, R.G. ; Mascarenhas, A. ; Desa, E. ; Madhan, R. ; Matondkar, S.G.P. ; Navelkar, G. ; Prabhudesai, S. ; Afzulpurkar, S.
Author_Institution :
Nat. Inst. of Oceanogr., Goa
Volume :
32
Issue :
2
fYear :
2007
fDate :
4/1/2007 12:00:00 AM
Firstpage :
353
Lastpage :
364
Abstract :
This paper provides a study on the development and the use of a small autonomous surface vehicle (ASV) that automatically follows programmed mission transects, while measuring sensor outputs along the tracks. It discusses the mechanical construction of the ASV, the distributed architecture of controller area network (CAN)-based nodes for science and vehicle payloads, high-speed radio-frequency (RF) communications, the performance of the heading autopilot, global positioning system (GPS)-based guidance algorithm, and the mission programming technique. The field trials of the ASV, performed off the coast of Goa, India, are focused on retrieving the 2-D spatial distribution of surface chlorophyll, which is one of the useful parameters in characterizing the nature of calibration-validation (CALVAL) sites for ocean remote sensing needs. A further benefit of ASVs is that they can be built at a low cost and used in monitoring applications of diverse coastal ecosystems.
Keywords :
Global Positioning System; controller area networks; marine vehicles; oceanographic equipment; remote sensing; remotely operated vehicles; GPS-based guidance algorithm; Global Positioning System; autonomous surface vehicle; calibration-validation sites; controller area network; distributed architecture; diverse coastal ecosystems; mission programming technique; mission transects; monitoring applications; ocean color remote sensing; radiofrequency communications; surface chlorophyll; Marine vehicles; Mechanical sensors; Mobile robots; Oceans; Radio frequency; Remote monitoring; Remote sensing; Remotely operated vehicles; Sea measurements; Sea surface; Autonomous surface vehicles (ASVs); calibration–validation (CALVAL) sites; chlorophyll measurements; controller area network (CAN) nodes; mission control (MC); ocean remote sensing; vehicle control;
fLanguage :
English
Journal_Title :
Oceanic Engineering, IEEE Journal of
Publisher :
ieee
ISSN :
0364-9059
Type :
jour
DOI :
10.1109/JOE.2007.893688
Filename :
4383212
Link To Document :
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