...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>海洋調查技術 >Exploration of teisi knoll by autonomous underwater vehicle 'R-one robot'
【24h】

Exploration of teisi knoll by autonomous underwater vehicle 'R-one robot'

机译：自主水下航行器“ R-one机器人”探索特斯诺山

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper outlines the exploration of Teisi Knoll by the autonomous underwater vehicle the R-One Robot, as carried out October 19-22, 2000, and presents images taken by the sidescan SONAR fitted to the bottom of the vehicle. The R-One Robot was launched from the R/V Kaiyo, started diving near the support ship, followed predetermined tracklines which were defined by waypoints, and finally came back to the destination where it was recovered by the support vessel. In order to minimize positioning error, which is determined by the inertial navigation system and Doppler SONAR, the robot ascended to the surface several times to ascertain its precies position using the global positioning system, the antenna of which is fitted on the vertical fin. Taking advantage of this positioning system, the robot followed the predetermined tracklines with an error of less than 40n meters in 30 minutes of continuous submerging. Disturbance to the robot is small enough compared to towed vehicles that its movement can be regarded can be regarded as stable. This stability resulted in clear side scanning images of the knoll and surrounding sea floor. The robot stopped at the center of the knoll, and descended vertically into the crater. When the vehicle was in the crater, anomalous manganese ion concentrations were detected by the in situ trace metal micro-analyzer GAMOS, which was loaded in the payload bay at the front of the robot.
机译：本文概述了2000年10月19日至22日进行的自动水下航行器R-One机器人对Teisi Knoll的探索，并介绍了安装在车辆底部的Sidescan SONAR拍摄的图像。 R-One机器人从R / V Kaiyo发射升空，开始在支援舰附近潜水，遵循由航路点定义的预定航迹，最后返回目的地，并由支援舰回收。为了最小化由惯性导航系统和多普勒SONAR确定的定位误差，该机器人使用全球定位系统几次上升到地面以确定其精确位置，全球定位系统的天线安装在垂直鳍上。利用这种定位系统，机器人在连续浸入30分钟后，沿着预定的轨迹线的误差小于40n米。与牵引车相比，对机器人的干扰小到可以认为其运动稳定。这种稳定性导致了山丘和周围海床的清晰侧面扫描图像。机器人停在小丘的中心，然后垂直下降到陨石坑中。当车辆处于陨石坑中时，原位微量金属微分析仪GAMOS可检测到锰离子浓度异常，该分析仪已装在机器人前端的有效载荷舱中。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号