PTCEC360 Syllabus - Underwater Navigation Systems - 2023 Regulation Anna University

PTCEC360 Syllabus - Underwater Navigation Systems - 2023 Regulation Anna University

PTCEC360

UNDERWATER NAVIGATION SYSTEMS

 L T P C

3 0 0 3

COURSE OBJECTIVES:
• To Understand the relationship between autonomy, sensing, navigation and control on an un-manned marine subsea vehicle.
• To understand about various types of navigational equipment & sensors
• To understand the basic communication methods and signal losses, attenuation.
• To understand the types of Acoustic transponders, Beacon and Responder

UNIT I

BASICS OF UNDERWATER COMMUNICATION

9

Introduction to underwater acoustics, Understanding Thermoclines in Ocean Waters, subsea communication sensors, Instruments and applications, Sound propagation in the ocean – Sound Velocity Profiles (SVP) in the deep water and shallow water; Sound attenuation in the sea – absorption, scattering, transmission loss, reverberation, Snell’s law, target strength; Laser communication and limitations.

UNIT II

UNDERWATER NAVIGATION & ITS AIDING SENSOR AND DEVICES

9

Different types of navigational sensors, Accelerometers, Fiber Optic Gyroscopes (FOGs), Ring Laser Gyroscope (RLG) types and Working principles, and their applications, Doppler Velocity Log, Error sources in subsea navigation, Calibration overview for subsea navigation. Attitude Heading and Reference Systems (AHRS) & IMU

UNIT III

ACOUSTIC POSITIONING SYSTEMS

9

Subsea navigation possible solutions, Vehicle positioning, Acoustic Positioning systems, Short Base Line (SBL), Super Short Base Line (SSBL), Long Base line (LBL) Configurations and Positioning overview.

UNIT IV

SUBSEA VEHICLE NAVIGATION

9

Subsea navigation, Uses of subsea navigation, challenges of subsea navigation. Basics of underwater navigation, Types of underwater Navigations, Aided navigational systems, Inertial Navigational systems. role of dead-reckoning navigation in subsea navigation, Kalman filters (XKF) and Invariant extended Kalman filters for navigation.

UNIT V

CASE STUDY

9

• Tethered vehicle deployment guidelines and preparedness.
• AUV /ROV based search operation requirements and planning.
• Tethered crawling vehicle sensors, data acquisition and maneuvering.
• Acoustic positioning system transponder deployment and recovery
• Aided and unaided navigation system study.
• Understand the basic tools needed to effectively develop software for roboticplatforms in a group environment, and resolve conflicts and adhere to group goals in the software cycle.

COURSE OUTCOMES: On successful completion of this course, the student will be able
CO1: To know about the Underwater Navigation System
CO2: To know about the INS and its aiding sensor
CO3: To know about the challenges involved in underwater navigation
CO4: To study about how navigation system is integrated with manned and unmanned underwater vehicles
CO5: To know about underwater positioning system

TOTAL:45 PERIODS

TEXT BOOKS:
1. Fundamentals of ocean acoustics by L.M.Brekhovskikh and Yu. P. Lysanov
2. An Underwater Vehicle Navigation System Using Acoustic and Inertial Sensors by Norvald Kjerstad
3. Underwater Acoustic Positioning Systems by P. H. Milne

REFERENCES:
1. Electronic and Acoustic Navigation systems for Maritime Studies by Norvald Kjerstad
2. Guidance & Control of Ocean Vehicles by TT Fossen
3. Dynamic Positioning of Offshore Vessels. By Morgan, M.

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