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首页> 外文期刊>海洋調查技術 >Exploration of teisi knoll by autonomous underwater vehicle 'R-one robot'
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Exploration of teisi knoll by autonomous underwater vehicle 'R-one robot'

机译：自动水下车辆“R-ONE机器人”探索Teisi Knoll

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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Teisi Knoll由自主水下车辆探索R-One Robot，如2000年10月19日至22日，并呈现在车辆底部的SideScan Sonar拍摄的图像。 R-One机器人从R / V Kaiyo发射，开始在支撑船附近潜水，其次是由航点定义的预定曲目线，最后回到了由支架船舶恢复的目的地。为了最小化由惯性导航系统和多普勒声纳确定的定位误差，机器人升到表面的几次以使用全球定位系统来确定其前位位置，其天线安装在垂直翅片上。利用该定位系统，机器人遵循预定的轨迹线，在连续浸没后30分钟内误差小于40n米。与拖曳车辆相比，对机器人的干扰足够小，即其运动可以被认为可以被视为稳定。这种稳定性导致咔嗒声和周围的海底透明扫描图像。机器人停在小心的中心，并垂直入陨石坑。当车辆在火山口中时，通过原位痕量金属微型分析仪Gamos检测异常锰离子浓度，该金属微析仪Gamos被装载在机器人前部的有效载荷托架中。

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