RE: [PSUBS-MAILIST] Nav systems

[irox <irox@ix.netcom.com>]

I've go my eye on driving the UI for sub with large
touch screens and 3D displays/monitors.  It will probably
look kind of sci-fi-ish.  I have designs for putting a
"super computer" built form GPUs in to process nav and
sonar data.  I will probably throw in some brass levers
and dials for a hint of Jules Vern retro look. :)

Cheers,
 Ian.
-----Original Message-----
>From: "Smyth, Alec" <Alec.Smyth@compuware.com>
>Sent: Jun 25, 2010 4:41 PM
>To: personal_submersibles@psubs.org
>Subject: RE: [PSUBS-MAILIST] Nav systems
>
>Super project Ian. I am beginning to imagine what the inside of your sub
>will might look like. Banks of monitors! 
>
>Alec
>
>
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>From: owner-personal_submersibles@psubs.org
>[mailto:owner-personal_submersibles@psubs.org] On Behalf Of irox
>Sent: Friday, June 25, 2010 3:56 PM
>To: personal_submersibles@psubs.org
>Subject: [PSUBS-MAILIST] Nav systems
>
>
>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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