Y. Ito, N. Kato, J. Kojima, S. Takagi, K. Asakawa, Y. Shirasaki
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引用次数: 42
Abstract
This paper describes the technology of cable tracking and experimental results with an autonomous underwater vehicle (AUV) called AQUA EXPLORER 1000 (AE1000) that is designed to be able to inspect submarine telecommunication cables at the depth of up to 1000 m. The vehicle can detect the magnetic field induced from a cable with on-board magnetometers and calculate the location of the cable. We discuss the errors of the cable location caused by the magnetic noise and misalignment of the sensor axes. We also describe the attitude of the vehicle that is necessary to record the scene of the cable. In the recent sea test, AE1000 succeeded to find out a submarine cable and to track it autonomously. We report the results of the experiment.
本文介绍了一种名为AQUA EXPLORER 1000 (AE1000)的自主水下航行器(AUV)的电缆跟踪技术和实验结果，该水下航行器的设计目的是能够在高达1000米的深度检查海底电信电缆。车辆可以用车载磁力计检测电缆产生的磁场，并计算电缆的位置。讨论了由磁噪声和传感器轴线不对准引起的电缆定位误差。我们还描述了记录电缆现场所必需的车辆的姿态。在最近的海上试验中，AE1000成功地找到了海底电缆，并自动跟踪了它。我们报告实验结果。
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