Resilient Underwater Positioning Technologies and Architecture

Assignment Task

Objective

The objective of this project is to review different underwater positioning and navigation technologies, analyze their main error sources and failure modes, identify fault detection methods, and propose a suitable architecture for combining these technologies to ensure resilient positioning.

Methodology

1) Review of User Requirements for resilient underwater positioning

2) Review of Underwater Positioning and Navigation Technologies:

a) Acoustic Ranging: Evaluate the error sources and failure modes associated with acoustic ranging systems. This may include issues like signal attenuation, multipath interference, and environmental effects.

b) Doppler Sonar: Analyze the error sources and failure modes specific to Doppler sonar systems. Consider factors such as velocity estimation errors, noise interference, and limitations in Doppler frequency resolution.

c) Acoustic Correlation: Assess the error sources and failure modes related to acoustic correlation techniques. This may involve investigating issues like signal coherence, correlation errors, and limitations in range resolution.

d) Inertial Navigation: Examine the error sources and failure modes inherent in inertial navigation systems. Consider factors such as sensor drift, noise accumulation, and potential for external disturbances affecting accuracy.

e) Depth Pressure Sensors: Evaluate the error sources and failure modes associated with depth pressure sensors. Consider factors such as calibration errors, temperature effects, and limitations in depth measurement accuracy.

f) Gravity Gradiometry: Analyze the error sources and failure modes specific to gravity gradiometry systems. This may involve investigating issues like sensor noise, external interference, and limitations in gravity gradient resolution.

g) Conductivity, Temperature and Depth (CTD) Sensors

h) Sound Velocity Sensor

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