Flying Fish, an Untethered Oceanographic Sensor Platform with Acoustic Homing Capability

摘要

The Flying Fish is an autonomous, streamlined, gravity driven underwater vehicle of high speed (15 knots) vertical excursions to depths of 6000 meters. This prototype uses short baseline acoustic interferometry to guide itself to a monochromatic acoustic beacon at the surface. Phase difference measurements made on two orthogonal axes are used to deduce the relative bearing to the beacon. An autopilot uses this information to actuate control surfaces and correct vehicle attitude. The thesis describes the oceanographic context in which the vehicle will be used, translates the scientific mission into a set of coherent engineering specifications, describes a prototype design that meets these specifications, and demonstrates proof-of-concept with a series of sea trials. (Copyright (c) Joshua K. Hoyt 1986).