LEADER 01699nam 2200433 a 450 001 9910698337803321 005 20080107133552.0 035 $a(CKB)4970000000049618 035 $a(OCoLC)187982083 035 $a(EXLCZ)994970000000049618 100 $a20080107d2007 ua 0 101 0 $aeng 135 $aurmn||||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aResponses to posthearing questions related to improving single audit quality$b[electronic resource] 210 1$aWashington, DC :$cU.S. Govt. Accountability Office,$d[2007] 215 $a6 pages $cdigital, PDF file 300 $aTitle from title screen (viewed on Jan. 3, 2008). 300 $aAuthor: Jeanette Franzel. 300 $a"December 7, 2007." 300 $aPaper version available from: U.S. Govt. Accountability Office, 441 G St., NW, Rm. LM, Washington, D.C. 20548. 300 $a"GAO-08-318R." 320 $aIncludes bibliographical references. 517 3 $aImproving single audit quality 517 1 $aSingle audit quality posthearing questions 606 $aFinance, Public$xAuditing$xLaw and legislation$zUnited States 606 $aGrants-in-aid$xAuditing$xLaw and legislation$zUnited States 615 0$aFinance, Public$xAuditing$xLaw and legislation 615 0$aGrants-in-aid$xAuditing$xLaw and legislation 700 $aFranzel$b Jeanette M$01380812 712 02$aUnited States.$bGovernment Accountability Office. 801 0$bGPO 801 1$bGPO 906 $aDOCUMENT 912 $a9910698337803321 996 $aResponses to posthearing questions related to improving single audit quality$93489869 997 $aUNINA LEADER 03543nam 2200613Ia 450 001 9910437895603321 005 20250609110042.0 010 $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 035 $a(PQKB)11302414 035 $a(DE-He213)978-3-642-32015-6 035 $a(MiAaPQ)EBC1030261 035 $a(PPN)168320819 035 $a(MiAaPQ)EBC4419402 035 $a(MiAaPQ)EBC4976087 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 /$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 $aDescription based upon print version of record. 311 08$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