Collaborative Navigation Using Wave Gliders and MEMS Sensors
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing underwater navigation and positioning systems, particularly those based on 'heavy' and 'medium' marine equipment, face challenges in achieving low-cost, long-endurance navigation and positioning due to high costs and short endurance, which are inadequate for deep-sea applications requiring stereo networking and collaborative observation of multiple underwater vehicles.
Innovation Solution
A deep-sea low-cost long-endurance collaborative navigation and positioning system comprising a shore-based monitoring center, a wave glider, and an underwater vehicle, utilizing underwater acoustic communication and MEMS sensors to integrate and fuse navigation data, with the wave glider providing real-time location and time information to assist the underwater vehicle's navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a shipborne ultrashort baseline system is used for collaborative navigation and positioning, then positioning accuracy is improved, but the system cost and complexity increase significantly
Solution Approach 1:
The patent replaces expensive shipborne ultrashort baseline equipment with low-cost MEMS sensors and acoustic transducers on autonomous vehicles. The system uses inexpensive off-the-shelf components rather than heavy marine equipment, achieving acceptable positioning accuracy through collaborative multi-vehicle sensing while dramatically reducing system cost and complexity
Solution Approach 2:
The patent introduces acoustic transducers as intermediaries for inter-vehicle communication and ranging. Instead of direct ship-based positioning, vehicles use acoustic signals to measure distances to each other, with the shore serving only as a monitoring point. This intermediary acoustic communication layer enables collaborative navigation using simple low-cost sensors
2Measurement precision
If a shipborne ultrashort baseline system is used for collaborative navigation and positioning, then positioning accuracy is improved, but the operation flexibility and adaptability deteriorate
Solution Approach 1:
The patent enables autonomous vehicles to navigate and position themselves using their own onboard sensors and acoustic communication with other vehicles. Each vehicle independently measures distances to neighbors and computes its position through collaborative algorithms, eliminating the need for a ship to follow and control them. This self-service capability provides full operational flexibility across different sea areas
Solution Approach 2:
The patent creates a dynamic collaborative network where vehicles can freely change their formation, positions, and operational areas. The system adapts to different mission requirements by dynamically adjusting which vehicles participate in ranging and how they are positioned, rather than being constrained by a fixed ship-based configuration
3Loss of information
If underwater acoustic communication is used to transmit positioning data, then data transmission is achieved, but communication delay increases
Solution Approach 1:
The patent has vehicles continuously transmit acoustic ranging signals and maintain persistent acoustic links before navigation events occur. Position data and distance measurements are pre-exchanged between vehicles, allowing the navigation system to use the most recent available data without waiting for on-demand communication, thereby reducing effective latency in navigation updates
4Adaptability or versatility
If separate installation of acoustic transducer array and attitude sensor is performed, then functional requirements are met, but installation errors increase
Solution Approach 1:
The patent combines the acoustic transducer array and attitude sensor into a single integrated mounting structure on each vehicle. By merging these previously separate components into one unified installation platform, the system eliminates the need for separate precision installations and the complex sea calibration required to correct relative positioning errors between separately mounted sensors
5Device complexity
If master-slave underwater vehicle system is used, then navigation cost is reduced, but endurance is limited
Solution Approach 1:
The patent segments the navigation function across multiple autonomous vehicles rather than concentrating it in a single master vehicle with expensive equipment. Each vehicle has identical low-cost MEMS sensors and contributes to the collaborative positioning, distributing the navigation capability across the fleet. This segmentation allows each vehicle to operate independently for extended periods without requiring a master vehicle with limited endurance
Solution Approach 2:
The patent uses multiple inexpensive autonomous vehicles with long endurance capabilities instead of one expensive master vehicle. Each vehicle is equipped with low-cost MEMS sensors and can operate independently for extended periods, with the collaborative system providing navigation accuracy comparable to expensive centralized systems while achieving much longer operational duration
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This system achieves low-cost, long-endurance navigation and positioning by leveraging 'light' marine equipment, such as wave gliders and MEMS sensors, to overcome the limitations of high-cost and short-endurance issues in existing systems, providing a more efficient and cost-effective solution for deep-sea operations.
Implementation Method 1
The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine to conduct information exchange on the wave glider and the underwater vehicle
Implementation Method 2
the underwater vehicle calculates a horizontal distance between the underwater vehicle and the wave glider
Data Source
AI summary
A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine. The wave glider obtains self location and time information through a satellite and transmits the location and time information to the underwater vehicle in an underwater acoustic communication manner, then the underwater vehicle calculates a horizontal distance between the underwater vehicle and the wave glider to assist a microelectromechanical system (MEMS) sensor of the underwater vehicle in navigation and positioning.