A Low-Cost Electromagnetic Docking Guidance System for Micro Autonomous Underwater Vehicles

Shilin Peng,Benkun Liu,Wenyu Cai,Junhao Wu,Haibin Yu,Jingbiao Liu,Chong Li

doi:10.3390/s19030682

Shilin Peng, Benkun Liu + Show 5 more

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https://doi.org/10.3390/s19030682

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Journal: Sensors	Publication Date: Feb 7, 2019
Citations: 10	License type: CC BY 4.0

Affiliation: Hangzhou Dianzi University

Abstract

As important observational platforms for the Smart Ocean concept, autonomous underwater vehicles (AUVs) that perform long-term observation in fleets are beneficial because they provide large-scale sampling data with a sufficient spatiotemporal resolution. Therefore, a large number of low-cost micro AUVs with docking capability for power recharge and data transmission are essential. This study designed a low-cost electromagnetic docking guidance (EMDG) system for micro AUVs. The EMDG system is composed of a transmitter coil located on the dock and a three-axial search coil magnetometer acting as a receiver. The search coil magnetometer was optimized for small sizes while maintaining sufficient sensitivity. The signal conditioning and processing subsystem was designed to calculate the deflection angle (β) for docking guidance. Underwater docking tests showed that the system can detect the electromagnetic signal and successfully guide AUV docking. The AUV can still perform docking in extreme positions, which cannot be realized through normal optical or acoustic guidance. This study is the first to focus on the EM guidance system for low-cost micro AUVs. The search coil sensor in the AUV is inexpensive and compact so that the system can be equipped on a wide range of AUVs.

Highlights

The Smart Ocean concept tries to comprehensively enhance the capabilities of the ocean using big data technology, and it is inseparable from the support of technology in the areas of marine sensing and control
The electromagnetic docking guidance (EMDG) system is composed of a transmitter coil located on the dock and a three-axial search coil magnetometer acting as a receiver
We found that the jet pumps installed in the nose of the Autonomous underwater vehicles (AUVs) have great electromagnetic disturbance on the magnetic sensor

Summary

Introduction

The Smart Ocean concept tries to comprehensively enhance the capabilities of the ocean using big data technology, and it is inseparable from the support of technology in the areas of marine sensing and control. Ocean observing systems for data collection are the key enabler of the “Smart. Autonomous underwater vehicles (AUVs) that can conduct spatiotemporal surveys and collect data, which are impossible via other methods [1], are useful platforms for ocean observation. Docking an AUV for power recharge and data transmission is beneficial for applications that require long-term observation. This scheme can reduce the need for frequent launch and recovery and enable. AUVs to permanently reside in a specific area to be ready for underwater operations [2]. If the docking station is connected to a cabled ocean observatory, the AUVs can be considered additional mobile nodes for 3D ocean observation [3]

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