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Traditional REMUS system, and newly developed under-ice navigation methods.

Traditional REMUS system, and newly developed under-ice navigation methods.
Traditional REMUS system, and newly developed under-ice navigation methods.
Traditional REMUS system, and newly developed under-ice navigation methods.
Traditional REMUS system, and newly developed under-ice navigation methods.
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598998
Doucette, Jayne H.
Traditional REMUS system, and newly developed under-ice navigation methods.
Illustration
01/01/2005
REMUS_development.jpg
Date is approximate.
Caption from Oceanus magazine, Vol. 44, No. 3, Pages 26 and 27:
(Left panel numbered callouts):
At present, AUVs typically locate their position in shallow water by three methods of navigational reference, using GPS at the surface (1); an acoustic Doppler current profiler (ADCP) to “touch” the ocean bottom (2), and signals from stationary acoustic beacons (3).
(Right panel numbered callouts):
1) Near an acoustic beacon, the AUV has two navigational reference points: from the beacon and from the seafloor using its ADCP.
2) Moving out of beacon range, the AUV maintains one contact point (the seafloor), using an ADCP that transmits sound signals over longer distances.
3) The AUV moves away from the seafloor and into deeper water, using an upward-looking ADCP to maintain one contact point (with the underside of the ice).
4) In midwater depths, the AUV temporarily loses all external navigational reference points and navigates by dead reckoning with only its inertial navigation system.
5) The AUV reestablishes contact with an acoustic beacon on an ice-tethered mooring, which may be moving with the ice.
6) The AUV links to a docking station, where it recharges batteries, downloads data, and continues its mission from a new known location.
Illustration by Jayne Doucette
© Woods Hole Oceanographic Institution
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