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Performance Enhancement Of The Wirewalker Wave-Powered Profiler, Jonathan Pompa
Performance Enhancement Of The Wirewalker Wave-Powered Profiler, Jonathan Pompa
Link Foundation Ocean Engineering and Instrumentation Fellowship Reports
The Wire-Walker is a wave-powered vertical profiler made for carrying oceanographic instruments. It cycles continuously through the depth range set by the user, providing a traveling platform for sensors. To achieve high data resolution in time varying environments, the Wire-Walker was redesigned from its original configuration for higher profiling speed. Improvements were made to the WireWalker profiler by using a numerical simulation of the system dynamics. Each physical parameter was varied in the model to find its effect on the profiling speed. Using the guidelines from the modeling experiment, a new WireWalker was constructed and tested in the ocean. The …
Advances In In-Situ Calibration Of Attitude And Doppler Sensors For Precision Oceanographic Submersible Navigation, James C. Kinsey
Advances In In-Situ Calibration Of Attitude And Doppler Sensors For Precision Oceanographic Submersible Navigation, James C. Kinsey
Link Foundation Ocean Engineering and Instrumentation Fellowship Reports
This paper reviews the development and experimental evaluation of three techniques for estimating the alignment matrix of Doppler sonars, which are commonly used for precision navigation of oceanographic submersibles, employing sensors commonly employed aboard these vehicles. Most previously reported methods addressed the problem of single degree of freedom alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reviews three techniques for three degree of freedom calibration of attitude and Doppler sonar sensors, using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least-square estimate of the alignment …