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010   $a1-283-63165-2
010   $a9786613944108
010   $a3-642-32015-5
024 7 $a10.1007/978-3-642-32015-6
035   $a(CKB)2670000000250238
035   $a(EBL)1030261
035   $a(OCoLC)809055926
035   $a(SSID)ssj0000737740
035   $a(PQKBManifestationID)11466501
035   $a(PQKBTitleCode)TC0000737740
035   $a(PQKBWorkID)10789079
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035   $a(DE-He213)978-3-642-32015-6
035   $a(MiAaPQ)EBC1030261
035   $a(PPN)168320819
035   $a(EXLCZ)992670000000250238
100   $a20090910h20122013  uy             0
101 0 $aeng
135   $aur|n|---|||||
181   $ctxt
182   $cc
183   $acr
200 10$aHigh-rate virtual instrument of marine vehicle motions for underwater navigation and ocean remote sensing$b[electronic resource] /$fChrystel Gelin
210   $aBerlin ;$aHeidelberg $cSpringer$d2012, c2013
215   $a1 online resource (112 p.)
225 0 $aSpringer series on naval architecture, marine engineering, shipbuilding and shipping ;$v1
300   $aDescription based upon print version of record.
311   $a3-642-32014-7 
320   $aIncludes bibliographical references.
327   $aIntroduction.-Instrumentation and data acquisition system -- Data processing -- ADCP Processing -- At-sea experiment of data acquisition system.
330   $aDead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion methods, for a USV to aid in navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP). While ADCPs non-intrusively measure water flow, the vessel motion needs to be removed to analyze the data and the system developed provides the motion measurements and processing to accomplish this task.
410  0$aSpringer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping,$x2194-8445 ;$v1
606   $aOceanography$xRemote sensing
606   $aUnderwater navigation
615  0$aOceanography$xRemote sensing.
615  0$aUnderwater navigation.
676   $a551.460028
700   $aGelin$b Chrystel$01062220
801  0$bMiAaPQ
801  1$bMiAaPQ
801  2$bMiAaPQ
906   $aBOOK
912   $a9910437895603321
996   $aHigh-rate virtual instrument of marine vehicle motions for underwater navigation and ocean remote sensing$92523550
997   $aUNINA