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首页> 外文会议>2002 Unmanned systems: the world's largest unmanned systems symposium and exhibition (AUVSI proceedings) >SQUID II: Design of an Autonomous Underwater Vehicle
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SQUID II: Design of an Autonomous Underwater Vehicle

机译：SQUID II：自主水下航行器的设计

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SQUID II, Florida Atlantic University’s entry into the 4 th Annual InternationalrnUnderwater Vehicle Competition in 2001 presented a novel hydrodynamicrnminiature AUV with vectoring thrust technology. . As an addition to its cleanrnhydrodynamic hull design, vision based target recognition, and its innovativernvector thruster of last year’s vehicle, SQUID II now boasts a Doppler VelocityrnLogger (DVL) and a Dual Purpose Acoustic Modem (DPAM). The DVL providesrnfeedback for closed loop navigation and the acoustic modem is capable ofrntracking multiple targets and provides two-way communication with the surface.rnOther changes to SQUID II include nickel-metal hydride batteries, which doublernthe vehicle’s operational time.rnTo accomplish the goals set out by AUVSI for the 5 th Annual InternationalrnUnderwater Vehicle Competition, SQUID II will use several systems, weight thernresults, and find the solution with the highest probability of success. In findingrnthe acoustic beacon SQUID II will use both the DPAM and dead reckoning basedrnon feedback from the internal compass and the DVL. Object recognition will bernbased on visual and acoustic pattern recognition. Object indexing will be donernusing the vision systems algorithms to decode the bar codes. Object altitudernreporting will be handled by up to three redundant onboard sensors: an altimeter,rnthe DVL with bottom tracking, and visual inspection. This use of redundantrnsystems increases the possibility of success when subsystem failures arernencountered.
机译：佛罗里达大西洋大学SQUID II参加了2001年第四届第四届国际水下机器人竞赛，展示了一种带有矢量推力技术的新型水动力微型AUV。 。除了其清洁的水动力船体设计，基于视觉的目标识别以及去年车辆的创新矢量推进器之外，SQUID II现在还具有多普勒速度记录仪（DVL）和双用途声学调制解调器（DPAM）。 DVL提供了用于闭环导航的反​​馈，并且声学调制解调器能够跟踪多个目标并提供与地面的双向通信.SQUID II的其他变化包括镍氢电池，这使车辆的工作时间增加了一倍.rn为了实现设定的目标由AUVSI举办的第五届年度国际水下车辆竞赛，SQUID II将使用多个系统，权衡结果，并找到成功可能性最高的解决方案。在寻找声信标时，SQUID II将使用基于内部罗盘和DVL的DPAM和基于航位推算的非反馈。将基于视觉和听觉模式识别来识别对象。对象索引将使视觉系统算法无法解码条形码。物体高度报告将由多达三个冗余机载传感器处理：高度计，带底部跟踪的DVL和外观检查。当遇到子系统故障时，这种冗余系统的使用增加了成功的可能性。

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