Integrating Precision Relative Positioning into JASON/MEDEA ROV Operations
Abstract:Advances in navigation continue to add precision and robustness to undersea operations. Two challenges limit navigation of the JASON/MEDEA two-vehicle ROV system: acoustic noise from JASON's hydraulic systems and lack of a direct relative position measurement between the two vehicles. This paper describes successful integration of the SHARPS ranging system—enabling precise relative positioning that is robust with respect to acoustic noise. We discuss four aspects of the installation: the capabilities of SHARPS as installed on the ROVs, the estimation theory predicted performance of the system design, the proof-of-concept navigation results from field deployments, and the operational utility of the SHARPS capability. The SHARPS installation integrates an important capability into the ROV system, enhancing the data product for science while adding safety and flexibility to the at-sea operations.
Document Type: Research Article
Publication date: 2006-03-01
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- The Marine Technology Society Journal is the flagship publication of the Marine Technology Society. It publishes the highest caliber, peer-reviewed papers on subjects of interest to the society: marine technology, ocean science, marine policy and education. The Journal is dedicated to publishing timely special issues on emerging ocean community concerns while also showcasing general interest and student-authored works.
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