Unmanned Surface Vehicles (USVs) are self contained unmanned untethered vessels that can transit on the surface of the water autonomously or through remote control. FAU has designed a multi-purpose oceanographic and GATEWAY USV that is a low cost mobile surface platform. Since standard GPS receivers are unable to provide the rate (0.5Hz) or precision required when used on a small vessel, a high rate (128Hz) and high precision position and orientation measurement system is developed. The system integrates a motion measurement package (the focus of this work) to aid in navigation, control, and enhances acoustic performance. The onboard sensors, including an Acoustic Doppler Current Profiler (ADCP), provide oceanographic measurements.
KeywordsData Fusion Inertial Measurement Unit Acoustic Doppler Current Profiler Unmanned Surface Vehicle Rate Gyro
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