Differences

This shows you the differences between two versions of the page.

--- intro [2020/08/31 11:54] – nikolal
+++ intro [2022/09/19 11:34] (current) – external edit 127.0.0.1
@@ Line 13: / Line 13: @@
 | 9 | Berthing/ Dismantling equipment | Removing the vessel from the water.|
 | 10 | Transport | Pack up equipment and leave deployment area |
+===== Collaborative Fish Tracking =====
+{{ :scenario.png?400|}}
+A visual representation of the most important phase of the scenario, the fish tracking,
+is shown in the figure. Here, the three Fish Otters have gained contact with a tagged fish,
+and is using multilateration to estimate its position. Based on the estimate, decisions are
+then made regarding the next position of the formation. The formation also has to try to
+minimize GDOP, while at the same time avoiding surrounding hazards and reducing the
+thruster usage. Reducing motor usage is beneficial because it conserves the stored energy
+and reduces noise in the medium (water). Increased noise makes it harder for the acoustic
+receiver to discern tag transmissions and may also influence the fish behavior.
+The communication between the operator and the vessels, can, as shown in the figure
+go through two channels: the public cellular network, and the private Ubiquiti AirMax
+network. Either one, or both at once is to be used, with the expectation that bandwidth
+and increased network control will be benefits of the AirMax channel, while range is the
+benefit of the cellular communications.
+Positioning of the vessels is based on GNSS systems, which also is a multilateration
+system. The GNSS can be used as an inverted analogy for the fish tracking performed by
+the Otters. In the GNSS, the satellites transmit signals, with the Otters receiving them.
+In the fish tracking scenario, the Otters have the same role as the satellites, but instead
+receives the message sent from the acoustic tag for surveillance purposes.
+===== The NTNU Fish Otter =====
+The target vessel for the system is the NTNU Fish Otter, with its main entities as shown in the diagram. Further details on the vessel is given in their own sections, available from the menu.
+{{ :otteroverallhw.png?600 |}}