1 confidentiel industrie - © acsa 2010 © ifremer, v.rigaud sm./d a long-range acoustic glider...
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1CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
A LONG-RANGE ACOUSTIC GLIDERA LONG-RANGE ACOUSTIC GLIDER
January, 2010January, 2010PresentationPresentation
2CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
SEAEXPLORER
• Main characteristics:– No wings
– Long, low-drag antenna
– Internal actuators
– Li-Ion rechargeable batteries
– Integrated acoustic positioning
and communications
– High tolerance, self-adjusting trim
– Optional hybrid propeller
• Specifications:– Depth rating: 700 m
– Speed (max): 1 kt
– Weight: 59 kg
– Length: 2.2 m
+Antenna: 0.8 m
– Diameter (max): 240 mm
GPS FIXRADIO/SAT COMM.
BALLAST INFLATION
BALLAST DEFLATION
ACOUSTIC FIX
HYBRID THURSTER MODE
GIBTM FIX and COMM.
3CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
GENERAL DESIGN
Acoustique transducer (Positioning and communications)
4 sensor ports (openings)
Li-Ion battery (2.5kWh)
Roll actuator
Pitch actuator
Control hardware
Static fins
GPS/Iridium/Radio (foldable)
Ballast Unit
Air bladder
Oil bladder
User P
ayload-dedica
ted secti
ons:
Flooded and Wet
Connectors: 10MBitEthernet; Recharge and external power; External sensors
Water-compressibility matching hulls
4CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
ACOUSTIC INTEGRATION
• Main glider weekness:– Poor location estimation by Dead reckoning using low-performance
compass and no speed sensor (DVL…)
– Sensors georeferencing: Why using very high accuracy science
sensors is the vehicle position is poorly known ?
– Required numerous surfacings:• High Risk of collition in coastal areas
• Loss of energy
• Solution:Acoustic Integration allowing:
– Realtime Tracking by four buoys (GIBTM) or one buoy (Synthetic Long-
baseline)
– Autonomous positioning by inverse Synthetic Long-baseline• Only one beacon at fixed location is used as underwater lighthouse
• Several beacons can be layed underice along the vehicle track for arctic missions
– Basic communications using double-pulse techniques:• Critical commands: target tepth, heading and mode
• Feedback on vehicle status
– Advantages:• Metric localisation in a 10km range to beacons/buoys
• No surfacings required
Fix Zone
10km radius
Fix Zone
10km radius
5CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
ACOUSTIC MODES AVAILABLE
• Tracking:– GIBTM :
• Generation of broadband periodic pulses by the glider at precise timing (low-drift clock), tele-transmission of depth by
double-ping
• Time stamping of signals by surface buoys (TOAs)
• Realtime calculation of vehicle position by centralized radio-receiver
– Synthetic long baseline• Generation of broadband periodic pulses by the glider at precise timing (low-drift clock); tele-transmition of depth and
heading by triple-ping
• Time stamping of signals by unique receiver (TOAs)
• Calculation of vehicle position by processing n previous TOAs
• Self positioning:– Inverse Synthetic long baseline
• Generation of broadband periodic pulses by a buoy at precise timing (GPS); tele-transmission of data by time spectral
spread codes (TSSC)
• Precise Time stamping of signals by the vehicle (TOAs)
• Calculation of the vehicle dead-reckoning drift by processing the "n" previous TOAs
6CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
INTER-OPERABILITY
• Positioning: – WGS84
• Clock : – GPS Time
• Acoustics– Rx : 0 to 70 kHz
– Tx : 8 to 17 kHz
– Transducer Aquatec compatible
• RF– RF European frequencies (868MHz)
– Iridium
• Data– Export of logfiles in NetCDF Format
• SAR– To be defined
7CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
SEA EXPLORERDispositif de réglage de pesée
Deux composantes:
Réglage de la pesée suivant les conditions opérationnelles et réalisation
des phases « descente-remontée » par ballast réversible à huile (Poids
constant et volume variable)
Flottabilité complémentaire en surface pour faciliter la transmission des
données par ballast air
8CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
SEA EXPLORERDispositif de réglage de pesée
BALLAST HUILE:
Volume total transférable: 1,3 litres
Volume transféré pour descente/remontée: 0,2 litre
Réservoir externe : vessie souple
Réservoir interne : soufflet déformable
Mesure de volume par potentiomètre linéaire
Débit de remplissage du soufflet interne réglable en fonction
de l’immersion
9CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./DSEA EXPLORERDispositif de réglage de pesée
10CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./DSEA EXPLORERDispositif de réglage de pesée
11CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
SEA EXPLORERDispositif de réglage de pesée
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
1
0 50 100 150
nElec
nHPI
nTotal
nLED
nBIE
nMAR
nPAR
• Rendement global du groupe motopompe n= 0,62 à 70 bars
12CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
SEA EXPLORERDispositif de réglage de pesée
•Performances mesurées en caisson hyperbare à 70 bars pour tranférer 0,2 litre:
débit: 0,735 l/min
durée: 16,4 secondes
tension: 24,44 V
Intensité: 5,96 A
énergie consommée: 2324 J; 0,645 Wh
13CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./DSEA EXPLORERDimensionnement de la coque
•Volume de la déformation: 100 cm3 à 700 mètres
Alourdissement compensé par l’augmentation de la densité
14CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
To VasquesTo Vasques
January, 2010January, 2010PresentationPresentation
15CONFIDENTIEL INDUSTRIE - © ACSA 2010 © IFREMER,
V.Rigaud SM./D
GENERAL DESIGN
Acoustique transducer (Positioning and communications)
4 sensor ports (openings)
Li-Ion battery (2.5kWh)
Roll actuator
Pitch actuator
Control hardware
Static fins
GPS/Iridium/Radio (foldable)
Ballast Unit
Air bladder
Oil bladder
User P
ayload-dedica
ted secti
ons:
Flooded and Wet
Connectors: 10MBitEthernet; Recharge and external power; External sensors
Water-compressibility matching hulls
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