The HUGIN 1000 autonomous underwater vehicle for military applications

Hagen, Per Espen; Størkersen, Nils; Vestgård, K.; Kartvedt, P.

doi:10.1109/oceans.2003.178504

Cited by 38 publications

(24 citation statements)

References 4 publications

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“…Building on more than 5 years of field experience with commercial AUV use, the HUGIN 1000 vehicle is now under development (first delivery end 2003), targeting the military market and civilian environmental monitoring and research. Compared to HUGIN 3000, HUGIN 1000 is smaller, easier to handle, has lower depth rating and shorter endurance, but software, electronics and system design are almost identical, [3]. This paper discusses the design of the integrated inertial navigation system for the HUGIN family and the development of a toolbox of navigation techniques to meet the requirements for a range of AUV applications.…”

Section: Introductionmentioning

confidence: 99%

A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system

Jalving

Gade

Hagen

et al. 2003

Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)

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Abstract-Modern AUV designs must handle submerged autonomous operation for long periods of time. The state of the art solution embedded in the HUGIN AUVs is a Doppler Velocity Log (DVL) aided Inertial Navigation System (INS) that can integrate various forms of position measurement updates. In autonomous operations, position updates are only available in limited periods of time or space, thus the core velocity aided inertial navigation system must exhibit high accuracy. However, position uncertainty of a DVL aided inertial navigation system will eventually drift off, compromising either mission operation or requirements for accurate positioning of payload data. To meet the requirements for a range of military and civilian AUV applications, the HUGIN vehicles come with a flexible and powerful set of navigation techniques. Methods for position updates include GPS surface fix, DGPS-USBL, Underwater Transponder Positioning (UTP) and bathymetric terrain navigation. Based on synthetic aperture sonar technology, a potentially revolutionary accurate velocity measurement is under development. HUGIN also comes with a navigation post-processing system (NavLab), which can be applied to increase navigational integrity and maximize position accuracy.

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Section: Introductionmentioning

confidence: 99%

A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system

Jalving

Gade

Hagen

et al. 2003

Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)

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“…Norwegian defense has developed an AUV suitable for underwater military applications. This AUV was named as HUGIN 1000 and it was able to work in different applications such as localization and classification of underwater objects, mine detection, route surveys, and environment assessment [323]. U.S. military has recently launched a project of worth 37 million US dollars which involves the development of intelligent underwater surveillance sensors.…”

Section: ) Ocean Samplingmentioning

confidence: 99%

Underwater optical wireless communications, networking, and localization: A survey

et al. 2019

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Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

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“…It is energy efficient but must be continuously moving to maintain steerage. [4][5][6][7][8] Another configuration adds one or two vertical thrusters to control depth. This system can control depth but still needs forward movement and movable fins for steerage.…”

Section: Robot Typesmentioning

confidence: 99%

Design Of A Prototype Underwater Research Platform For Swarm Robotics

Joordens¹,

Jamshidi²

2011

Intelligent Automation & Soft Computing

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To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Also it must be able to navigate and avoid obstacles. Further if this platform is to be part of a swarm of like platforms then it must be cost effective and relatively small. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This article describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics. Whilst the robotic platform performs well, to explore what many of them would do, that is more than are available, simulation is required. This article continues to study how best to simulate these robots for a swarm, or system of systems, approach.

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The HUGIN 1000 autonomous underwater vehicle for military applications

Cited by 38 publications

References 4 publications

A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system

A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system

Underwater optical wireless communications, networking, and localization: A survey

Design Of A Prototype Underwater Research Platform For Swarm Robotics

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