Assessment of the Steering Precision of a Hydrographic Unmanned Surface Vessel (USV) along Sounding Profiles Using a Low-Cost Multi-Global Navigation Satellite System (GNSS) Receiver Supported Autopilot
Abstract
he performance of bathymetric measurements by traditional methods (using manned vessels) in ultra-shallow waters, i.e., lakes, rivers, and sea beaches with a depth of less than 1 m, is often difficult or, in many cases, impossible due to problems related to safe vessel maneuvering. For this reason, the use of shallow draft hydrographic Unmanned Surface Vessels (USV) appears to provide a promising alternative method for performing such bathymetric measurements. This article describes the modernisation of a USV to switch from manual to automatic mode, and presents a preliminary study aimed at assessing the suitability of a popular autopilot commonly used in Unmanned Aerial Vehicles (UAV), and a low-cost multi-Global Navigation Satellite System (GNSS) receiver cooperating with it, for performing bathymetric measurements in automated mode, which involves independent movement along a specified route (hydrographic sounding profiles). The cross track error (XTE) variable, i.e., the distance determined between a USV’s position and the sounding profile, measured transversely to the course, was adopted as the measure of automatic control precision. Moreover, the XTE value was statistically assessed in the publication.
Citations
-
4 4
CrossRef
-
0
Web of Science
-
4 5
Scopus
Authors (4)
Cite as
Full text
- Publication version
- Accepted or Published Version
- License
- open in new tab
Keywords
Details
- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
SENSORS
no. 19,
ISSN: 1424-8220 - Language:
- English
- Publication year:
- 2019
- Bibliographic description:
- Specht M., Specht C., Lasota H., Cywiński P.: Assessment of the Steering Precision of a Hydrographic Unmanned Surface Vessel (USV) along Sounding Profiles Using a Low-Cost Multi-Global Navigation Satellite System (GNSS) Receiver Supported Autopilot// SENSORS -Vol. 19,iss. 18 (2019), s.3939-
- DOI:
- Digital Object Identifier (open in new tab) 10.3390/s19183939
- Bibliography: test
-
- IHO. Hydrographic Dictionary, 5th ed.; Vol. I, Special Publication No. 32; IHO: Monaco, Monaco, 1994. 2. CHS. CHS Hydrographic Survey Standards, 2nd ed.; CHS: Ottawa, ON, Canada, 2013. open in new tab
- IHO. Manual on Hydrography, 1st ed.; Publication C-13; IHO: Monaco, Monaco, 2005. open in new tab
- NOAA. NOS Hydrographic Surveys Specifications and Deliverables; NOAA: Silver Spring, MD, USA, 2017. 5. Umbach, M.J. Hydrographic Manual, 4th ed.; NOAA: Silver Spring, MD, USA, 1976. open in new tab
- IHO. IHO Standards for Hydrographic Surveys, 5th ed.; Special Publication No. 44; IHO: Monaco, Monaco, 2008. open in new tab
- Stateczny, A.; Grońska, D.; Motyl, W. Hydrodron-New Step for Professional Hydrography for Restricted Waters. In Proceedings of the 2018 Baltic Geodetic Congress, Gdańsk, Poland, 21-23 June 2018. open in new tab
- Bouwmeester, E.C.; Heemink, A.W. Optimal Line Spacing in Hydrographic Survey. Int. Hydrogr. Rev. 1993, 70, 37-48.
- Makar, A. Determination of Inland Areas Coastlines. In Proceedings of the 18th International Multidisciplinary Scientific GeoConference SGEM 2018, Albena, Bulgaria, 2-8 July 2018. open in new tab
- Specht, C.; Weintrit, A.; Specht, M. Determination of the Territorial Sea Baseline-Aspect of Using Unmanned Hydrographic Vessels. TransNav-Int. J. Mar. Navig. Saf. Sea Transp. 2016, 10, 649-654. [CrossRef] open in new tab
- Elema, I.A.; Kwanten, M.C. Introduction of Vertical Reference Level Lowest Astronomical Tide (LAT) in the Products of the Netherlands Hydrographic Service. In Proceedings of the 15th International Congress of the International Federation of Hydrographic Societies, Antwerp, Belgium, 6-9 November 2006.
- El-Hattab, A.I. Investigating the Effects of Hydrographic Survey Uncertainty on Dredge Quantity Estimation. Mar. Geod. 2014, 37, 389-403. [CrossRef] open in new tab
- Peters, R.; Ledoux, H.; Meijers, M. A Voronoi-Based Approach to Generating Depth-Contours for Hydrographic Charts. Mar. Geod. 2014, 37, 145-166. [CrossRef] open in new tab
- Russom, D.; Halliwell, H.R.W. Some Basic Principles in the Compilation of Nautical Charts. Int. Hydrogr. Rev. 1978, 55, 11-19.
- Stateczny, A.; Włodarczyk-Sielicka, M.; Grońska, D.; Motyl, W. Multibeam Echosounder and LiDAR in Process of 360-Degree Numerical Map Production for Restricted Waters with HydroDron. In Proceedings of the 2018 Baltic Geodetic Congress, Gdańsk, Poland, 21-23 June 2018. open in new tab
- Moore, T.; Hill, C.; Monteiro, L. Is DGPS Still a Good Option for Mariners? J. Navig. 2001, 54, 437-446. [CrossRef] open in new tab
- Dziewicki, M.; Specht, C. Position Accuracy Evaluation of the Modernized Polish DGPS. Pol. Marit. Res. 2009, 16, 57-61. [CrossRef] open in new tab
- GSA. EGNOS Open Service (OS) Service Definition Document; Version 2.3; GSA: Prague, Czech Republic, 2017. open in new tab
- Specht, C.; Pawelski, J.; Smolarek, L.; Specht, M.; Dąbrowski, P. Assessment of the Positioning Accuracy of DGPS and EGNOS Systems in the Bay of Gdansk Using Maritime Dynamic Measurements. J. Navig. 2019, 72, 575-587. [CrossRef] open in new tab
- Wróbel, K.; Montewka, J.; Kujala, P. System-Theoretic Approach to Safety of Remotely-Controlled Merchant Vessel. Ocean Eng. 2018, 152, 334-345. [CrossRef] open in new tab
- Stateczny, A.; Kazimierski, W.; Burdziakowski, P.; Motyl, W.; Wisniewska, M. Shore Construction Detection by Automotive Radar for the Needs of Autonomous Surface Vehicle Navigation. Int. J. Geo-Inf. 2019, 8, 80. [CrossRef] open in new tab
- Stateczny, A.; Burdziakowski, P. Universal Autonomous Control and Management System for Multipurpose Unmanned Surface Vessel. Pol. Marit. Res. 2019, 26, 30-39. [CrossRef] open in new tab
- Li, C.; Jiang, J.; Duan, F.; Liu, W.; Wang, X.; Bu, L.; Sun, Z.; Yang, G. Modeling and Experimental Testing of an Unmanned Surface Vehicle with Rudderless Double Thrusters. Sensors 2019, 19, 2051. [CrossRef] [PubMed] open in new tab
- Romano, A.; Duranti, P. Autonomous Unmanned Surface Vessels for Hydrographic Measurement and Environmental Monitoring. In Proceedings of the FIG Working Week, Rome, Italy, 6-10 May 2012.
- Specht, C.; Specht, M.; Cywiński, P.; Skóra, M.; Marchel, Ł.; Szychowski, P. A New Method for Determining the Territorial Sea Baseline Using an Unmanned, Hydrographic Surface Vessel. J. Coast. Res. 2019, 35, 925-936. [CrossRef] open in new tab
- Specht, C.;Świtalski, E.; Specht, M. Application of an Autonomous/Unmanned Survey Vessel (ASV/USV) in Bathymetric Measurements. Pol. Marit. Res. 2017, 24, 36-44. [CrossRef] open in new tab
- Beirami, M.; Lee, H.Y.; Yu, Y.H. Implementation of an Auto-Steering System for Recreational Marine Crafts Using Android Platform and NMEA Network. J. Korean Soc. Marit. Eng. 2015, 39, 577-585. [CrossRef] open in new tab
- Rajinikanth, V.; Latha, K. I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion. Appl. Comput. Intell. Soft Comput. 2012, 2012, 1-10. [CrossRef] open in new tab
- ISO. ISO 12188-2:2012-Tractors and Machinery for Agriculture and Forestry-Test Procedures for Positioning and Guidance Systems in Agriculture-Part 2: Testing of Satellite-Based Auto-Guidance Systems during Straight and Level Travel; ISO: Geneva, Switzerland, 2010. open in new tab
- Rounsaville, J.; Dvorak, J.; Stombaugh, T. Methods for Calculating Relative Cross-Track Error for ASABE/ISO Standard 12188-2 from Discrete Measurements. Trans. ASABE 2016, 59, 1609-1616. open in new tab
- USN. The Navy Unmanned Surface Vehicle (USV) Master Plan. Available online: https://www.navy.mil/ navydata/technology/usvmppr.pdf (accessed on 24 July 2019). open in new tab
- NGA. Department of Defense World Geodetic System 1984, Its Definition and Relationships with Local Geodetic Systems, 3rd ed.; NGA: Springfield, VA, USA, 2004. open in new tab
- Deakin, R.E.; Hunter, M.N.; Karney, C.F.F. The Gauss-Krüger Projection. In Proceedings of the 23rd Victorian Regional Survey Conference, Warrnambool, Australia, 10-12 September 2010.
- Gajderowicz, I. Map Projections: Basics; Publishing House of the University of Warmia and Mazury in Olsztyn: Olsztyn, Poland, 2009.
- Kadaj, R.J. Polish Coordinate Systems. Transformation Formulas, Algorithms and Softwares. Available online: http://www.geonet.net.pl/images/2002_12_uklady_wspolrz.pdf (accessed on 24 July 2019). open in new tab
- Hofmann-Wellenhof, B.; Lichtenegger, H.; Collins, J. Global Positioning System: Theory and Practice; Springer: New York, NY, USA, 1994. open in new tab
- Stacy, E.W. A Generalization of the Gamma Distribution. Ann. Math. Stat. 1962, 33, 1187-1192. [CrossRef] open in new tab
- Jaskólski, K.; Felski, A.; Piskur, P. The Compass Error Comparison of an Onboard Standard Gyrocompass, Fiber-Optic Gyrocompass (FOG) and Satellite Compass. Sensors 2019, 19, 1942. [CrossRef] open in new tab
- Felski, A. Exploitative Properties of Different Types of Satellite Compasses. Annu. Navig. 2010, 16, 33-40.
- Liu, W.; Shi, X.; Zhu, F.; Tao, X.; Wang, F. Quality Analysis of Multi-GNSS Raw Observations and a Velocity-Aided Positioning Approach Based on Smartphones. Adv. Space Res. 2019, 63, 2358-2377. [CrossRef] open in new tab
- Szot, T.; Specht, C.; Specht, M.; Dabrowski, P.S. Comparative Analysis of Positioning Accuracy of Samsung Galaxy Smartphones in Stationary Measurements. PLoS ONE 2019, 14, e0215562. [CrossRef] open in new tab
- Wang, L.; Li, Z.; Zhao, J.; Zhou, K.; Wang, Z.; Yuan, H. Smart Device-Supported BDS/GNSS Real-Time Kinematic Positioning for Sub-Meter-Level Accuracy in Urban Location-Based Services. Sensors 2016, 16, 2201. [CrossRef] open in new tab
- Specht, C.; Dąbrowski, P.S.; Pawelski, J.; Specht, M.; Szot, T. Comparative Analysis of Positioning Accuracy of GNSS Receivers of Samsung Galaxy Smartphones in Marine Dynamic Measurements. Adv. Space Res. 2019, 63, 3018-3028. [CrossRef] open in new tab
- Fissore, F.; Masiero, A.; Piragnolo, M.; Pirotti, F.; Guarnieri, A.; Vettore, A. Towards Surveying with a Smartphone. In New Advanced GNSS and 3D Spatial Techniques; Springer: Cham, Switzerland, 2010; pp. 167-176. open in new tab
- Dabove, P.; Di Pietra, V. Towards High Accuracy GNSS Real-Time Positioning with Smartphones. Adv. Space Res. 2019, 63, 94-102. [CrossRef] open in new tab
- Chen, B.; Gao, C.; Liu, Y.; Sun, P. Real-Time Precise Point Positioning with a Xiaomi MI 8 Android Smartphone. Sensors 2019, 19, 2835. [CrossRef] open in new tab
- Specht, M. Method of Evaluating the Positioning System Capability for Complying with the Minimum Accuracy Requirements for the International Hydrographic Organization Orders. Sensors 2019, 19, 3860. [CrossRef] open in new tab
- Giordano, F.; Mattei, G.; Parente, C.; Peluso, F.; Santamaria, R. MicroVEGA (Micro Vessel for Geodetics Application): A Marine Drone for the Acquisition of Bathymetric Data for GIS Applications. Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. 2015, 40, 123-130. [CrossRef] open in new tab
- Giordano, F.; Mattei, G.; Parente, C.; Peluso, F.; Santamaria, R. Integrating Sensors into a Marine Drone for Bathymetric 3D Surveys in Shallow Waters. Sensors 2016, 16, 41. [CrossRef] open in new tab
- Sources of funding:
-
- Sfinansowane w ramachprogramu “Diamentowy Grant” Nr DI2015 008545 (finansowanie na lata 2016-20)
- Verified by:
- Gdańsk University of Technology
seen 145 times
Recommended for you
The Use of Unmanned Surface Vessels in Bathymetric Measurements of Waterbodies with Highly Dynamic Seafloor Relief
- M. Specht,
- C. Specht,
- H. Lasota
- + 1 authors
Integration Data Model of the Bathymetric Monitoring System for Shallow Waterbodies Using UAV and USV Platforms
- O. Lewicka,
- M. Specht,
- A. Stateczny
- + 7 authors