PTCEC360 Underwater Navigation Systems Syllabus:
PTCEC360 Underwater Navigation Systems Syllabus – Anna University Part time Regulation 2023
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
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
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
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
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
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 robotic platforms 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 BOOKS
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.