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UUV Navigation Aid

The Classification of this Brief is UNCLASSIFIED. UUV Navigation Aid. Paul T. Jurcsak Mikel, Inc. 1144 Tenth Ave, Suite 200 Honolulu, HI 96816. MIKEL Inc- Who We Are. We are experts in the development, prototyping and testing of underwater technology and systems.

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UUV Navigation Aid

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  1. The Classification of this Brief is UNCLASSIFIED UUV Navigation Aid Paul T. Jurcsak Mikel, Inc. 1144 Tenth Ave, Suite 200 Honolulu, HI 96816

  2. MIKEL Inc- Who We Are We are experts in the development, prototyping and testing of underwater technology and systems. Submarine combat systems R&D Acoustic detection, tracking and localization/positioning Target motion analysis Tactical exercise performance analysis We are also focused on creating training tools to make Navy operators proficient in their use of the submarine combat system. Automated performance measurement/analysis systems Woman - Owned, Small Business w/offices in MA, RI and HI Affiliated with Universities GSA and Seaport-E schedules Cleared Employees and Facility 4/2/2014 2

  3. Acknowledgement • This Work was Sponsored by the National Defense Center of Excellence for Research in Ocean Sciences (CEROS) Under a Cooperative Agreement With the Defense Advanced Projects Research Agency (DARPA)

  4. Agenda • Submerged Vehicle Positioning & Navigation Aid • Range-Only Target Positioning Algorithms • Single Beacon • Single or Multiple Receive Hydrophones • At-Sea Test Results • Other Applications • Sparsely Populated Tracking System (Multiple Beacons)

  5. UUV Navigation Aid Performance Metrics

  6. UUV Navigation Aid • Submerged vehicle position estimate using a single beacon • - Single or multiple UUVs • - Waypoint position update • Enabled beacon emits coded pings for a defined period of time • UUV passively measures beacon ping time of arrival & onboard heading, speed through water and depth 4/2/2014 6

  7. Concept of Operations • Pre-installed beacon is activated by acoustic command & synchronized for time of emission (TOE) by undersea vehicle • Beacon position surveyed to GPS accuracy • Activated beacon emits a sequence of coded pings at precise time intervals • No vehicle emissions after activating beacon • Subsequent beacon pings detected by undersea vehicle use time of arrival (TOA) to measure the beacon to vehicle slant range (SR) • SR = C(TOA – TOE) • Range-only motion analysis (ROMA) algorithms are used to determine UUV position relative to the beacon • Extended Kalman Filter (EKF) • Initialize EKF with Minimum Cost Function Optimization algorithm

  8. Battery powered for 240 hours of operation over two years Direct Sequence Spread Spectrum (DSSS) ranging signal Accurate TOA Shallow or deep water capability Beacon mode Synchronized ping once every 30 seconds for 4 hrs Transponder mode Respond with same code as interrogation plus a coded transponder ID Power Supply Command Receiver & Coded Signal Transmitter Transducer Beacon Bottom Mounted Beacon/Transponder

  9. UUV Navigation Aid Data Flow Position & ocean current estimate X, Y, Vcx , Vcy • On Board Vehicle Data • Speed through water • Heading • Depth Extended Kalman Filter (EKF) Host Computer (COTS PC for Prototype) Initialize State Vector TOE TOA Signal Processor Beacon Command Generator Minimum Cost Function Beacon Hydrophone interface UUV Projector UUV hydrophone

  10. Submarine Tracking System Data Flow • On Board Vehicle Data • Speed through water • Heading • Depth Position & ocean current estimate X, Y, Vcx , Vcy Personal Computer Extended Kalman Filter (EKF) Initialize State Vector TOE Spherical Known Depth or Minimum Cost Function TOA Signal Processor Beacon Command Generator Hydrophone interface UQC Beacon Submarine hydrophones EKF Estimates Position by Processing Ranges from 1 or more Organic Hydrophones

  11. 300 250 100’s usec of timing accuracy 200 150 100 50 0 -50 -100 1000 0 200 400 600 800 Auto Correlation Onboard Processing • Signal & data processing algorithms hosted on carry on COTS PC • Can be hosted on undersea vehicle computer • Minimal processing requirements • Sends DSSS coded beacon commands via a UQC interface • Receiver capable of processing multiple coded beacon signals simultaneously • CDMA for multiple beacons 8 channel A/D

  12. Submarine Organic Sensors +z +x DT-592 DT 592 quadrants summed emulating a UUV with a single omni-directional hydrophone receiver

  13. GPS Track EKF Acoustic Track Phase 1 Submarine TestEmulates UUV using a single hydrophonereal time position estimates Reacquire detection Phase 1Requirement Geodetic accuracy = 30m CEP Hearing radius = 1 Nm Water Depth = 400’ Demonstrated real time Geodetic accuracy = <20m CEP Hearing radius = 2.4 Nm Water Depth = 350’ 1 Nm

  14. GPS Track Smoothed Acoustic Track Phase 1 Submarine TestEmulates UUV using a single hydrophonesmoothed time position estimates Reacquire detection Phase 1 Requirement Geodetic accuracy = 30m CEP Hearing radius = 1 Nm Water Depth = 400’ Demonstrated post event Geodetic accuracy = <15m CEP Hearing radius = 2.4 Nm Water Depth = 350’ 1 Nm

  15. October Submarine Sea Test • Submarine at periscope depth, acoustic track compared to GPS track. • Demonstrated smoothed • geodetic accuracy < 20 m CEP • Water depth = 115 m • Measured beacon hearing radius = 2.4 nm • Reconstructed tracking • radius = 2.75 nm Reconstructed track radius 1 Nm Results using a single beacon located at 0,0 coordinates in 350’ of water 16

  16. Submerged Tracking System Sea Data % Occurrence % Occurrence Position Error (m) Position Error (m) Smoothed position error histogram over the entire track area. ≈ 25 m CEP over entire 20 sq nmi area or 12.5 m CEP over minefield. Real time position error histogram over the minefield area. ≈ 20 m CEP over the 3.2 sq nmi of minefield area

  17. Other Applications

  18. Sparsely Populated Tracking System Reconstructed positions of all participants into ECEF Coordinates

  19. Sparsely Populated Tracking System (4 Beacons = 100 nmi2 coverage) • Real time undersea vehicle position estimates • Ocean current estimate used to provide a continuous track when undersea vehicle outside beacon hearing radius • Post exercise smoothing reduces real time tracking errors Tracking of Undersea Vehicles to Within 25 m CEP for Entire Area Higher Accuracies Achievable Within Center Area

  20. Summary • The UUV Navigation Aid determines the position of undersea vehicles by: • Detecting coded TOE synchronized pings from a single pre-installed beacon. • Estimating the TOA’s on one or more hydrophones to produce slant range measurements • Estimating the 2D position of the undersea vehicle relative to the known beacon based on the slant range measurements • In addition an estimate of the ocean current velocity is developed • Allows for improved dead reckon tracking outside beacon hearing radius • Real time track of undersea vehicles better than 30m CEP • 115m water depth • Hearing radius =1 nmi • Post event track of undersea vehicles better than 20m CEP • 115m water depth • Hearing radius = 2.4 nmi

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