Precision Sensing for AS(X) Submarine Tenders

Texas Research Institute Austin, Inc. proposes to develop a precise motion sensing system which will integrate inertial measurement units (IMU) on the submarine and tender, motion tracking cameras, and laser trackers for accurate relative motion sensing in a marine environment. The proposed strategy places sensors and analysis computers on the tender, avoiding permanent modifications to the submarine. To address challenges, the approach involves selecting sensors, determining optimal deployment locations, and establishing real-time analysis for six degrees of freedom (DOF) motion identification. The Relative Motion Sensing System incorporates laser tracker and vision technologies for improved accuracy in ship-to-ship operations. Determining relative pose involves a systematic approach, integrating data from cameras, laser trackers, and IMUs through a Kalman filter. The process considers separate velocities and accelerations for both vessels, emphasizing the importance of inertial frames and alignment when managing IMUs. The overall goal is to provide quantitative validation specific to the application, emphasizing a rigorous assessment in the development phases. The approach prioritizes integration of existing technologies for an effective sensor system tailored to submarine operations in an open ocean environment at up to a Sea State 4 threshold.