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Re: [PSUBS-MAILIST] Nav systems

To: personal_submersibles@psubs.org
Subject: Re: [PSUBS-MAILIST] Nav systems
From: irox <irox@ix.netcom.com>
Date: Fri, 25 Jun 2010 18:14:44 -0400 (EDT)
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Reply-to: personal_submersibles@psubs.org
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Hi Jon,

seems there is enough interest to make it worth bring.
I might take you up on the laptop (although I'll probably bring mine).
The software side currently run on Fedora Core 12, with a decent
internet connection I should have this up and running on most recent
Fedora systems in a couple of hours.  It also requires 2 USB ports
which shouldn't be a problem for any modern laptop.

I will consider shipping the gear a head of time (although may
be hacking on it up until before the convention).

Thanks!
 Ian.


-----Original Message-----
>From: Jon Wallace <jonw@psubs.org>
>Sent: Jun 25, 2010 4:19 PM
>To: personal_submersibles@psubs.org
>Subject: Re: [PSUBS-MAILIST] Nav systems
>
>
>Ian,
>
>Great project!  Please bring it to then convention if you can.  If you 
>are concerned about airport security, can you ship it direct to the 
>hotel and have them hold it for you?  I'll be bringing two laptops with 
>me, one dual booting Fedora and WinXP Pro, the other with WinXP Pro on 
>it if you want to leave the laptop at home and feel we can load the 
>software on mine.
>
>For what it's worth, I'm a bit worried about TSA as well.  My wife went 
>to Utah earlier this year and packed a jug of Maple Syrup in her 
>check-in luggage to give to my sister when she got there.  TSA opened 
>her luggage AND the sealed container of maple syrup (god knows what they 
>did to it) but didn't put the cap back on tightly so it spilled all over 
>her clothes and inside the luggage.  I'm worried about some of the 
>equipment I'm going to be bringing for demo purposes so I'm going to 
>pack it with descriptions of what the things are.  I can just see me 
>getting pulled off a plane because some TSA flunky scans my luggage and 
>finds the strobe locator I built and thinks I'm packing a "ray" gun from 
>mars or something.
>
>Jon
>
>
>On 6/25/2010 3:56 PM, irox wrote:
>> Hi,
>>
>> I've been working a navigation system for a submarine for some
>> time.  This stems from a conversation I had a with Jay at the
>> Maine psubs convention.  The main aim of the nav system is to
>> (accurately - for certain values of "accurate"...) determine the
>> position of the submarine when it is submerged.
>>
>> My system currently consists of 6 degrees of freedom (6DOF)
>> inertia measurement unit (IMU), which gathers data from: 3
>> magnometers (providing a 3d compass); 2 gyros for pitch and
>> roll; and 3 accelerometers providing movement in 3d space.
>> Plus a fiber optic gyro (FOG) which augments the compass
>> bearing with a super accurate (greater than 0.01 degree
>> resolution) heading which isn't effected by magnetic field.
>> This is hooked up to a laptop which processes the data from
>> the IMU and FOG, and provides a 3D display.  Not including
>> the laptop I have around $1200 invested in this project so
>> far.
>>
>> I was hoping to have a first version working system by the
>> convention, but I've not had much time to work on it recently.
>> The outline components/software are there, but it's prone to
>> drift off in some direction or other and rapidly loose
>> accuracy.  Each iteration of the project is more accurate
>> than the last, but it is far from providing useful position data.
>> It should how ever be able to provide accurate heading data
>> as well as pitch and roll.
>>
>> I am currently trying to decide if it's worth bring this to
>> the convention.  I can demonstrate the principles behind it
>> on land - it might be useful to put it in a sub and gather
>> some data to used later for developing and testing of the
>> software behind it.  But we would need to accurately know
>> the movements of the sub so we could correlate the results
>> of the processed data with the physical position changes
>> of the sub.  The main reason for not bring it is to avoid
>> the hassle of taking it on a plane and dealing with airport
>> security.
>>
>> This project has a large potential scope.  Once I get the existing
>> set up working to some degree, it can be farther augmented
>> with a second IMU, then with more environment data, for
>> example: a pressure sensor supplying depth information; a
>> water speed sensor providing relative water speed of the
>> subl; motor power input sensor and rudder angle sensor
>> allowing the system to estimate the future position based
>> on what the operator is doing to the controls.  Add a
>> GPS or DGSP to provide accurate surface state and position,
>> so that nav system is initialized with good data.
>>
>> There are many other projects which can spawn from this, one
>> am interested in doing next is combining an active sonar
>> system with the positioning system to provide on the fly
>> mapping capability.
>>
>> I plan to release the software as open source so anybody
>> can use it.  Although I imagine each submarine to use it
>> would require a fair amount of changes/customization to
>> the software.
>>
>> Let me know what you think.  Also I am interested to hear
>> about what other people are planning/doing for nav/positioning
>> systems.
>>
>> Cheers!
>>   Ian.
>>
>>
>>
>>
>>
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>
>
>
>
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