ACOMMS

Acoustic Communications

 

AHRS

Attitude and Heading Reference System

 

ATR

Automatic Target Recognition

 

AV

Autonomous Vehicle

 

Beaufort

Or Beaufort Scale is a scale for measuring wind speeds. The speed of the wind will affect wave action on the water.

 

BLOS

Beyond Line of Sight

 

C2

Command and Control

 

COG

Course Over Ground the direction a vehicle is traveling relative to the bottom. This can be different than the vehicle Heading.

 

CONOPS

Concept of Operations

 

CTD

Conductivity, Temperature, and Depth Sensor

 

CTS

Course to Steer. The heading (in True degrees) to steer to achieve the next waypoint.

 

DOF

Degrees Of Freedom. The number of system parameters that may vary independently. Generally for systems we work with there are six: surge (moving forward/back), heave (moving up/down), sway (moving left/right), yaw (turning left/right), pitch (tilting forward/back), roll (tilting left/right).

 

DPC

Dynamic Payload Control

 

DPD

Diver Propulsion Device. A combat diving vehicle designed to transport two fully equipped combat divers and additional equipment on long range missions.

 

DSV

Deep Submergence Vehicle

 

DTN

Distance to Next. The distance to the next waypoint in the route.

 

DVL

Doppler Velocity Log

 

ECEF

Earth-centered, earth-fixed, also known as ECR (initialism for earth-centered rotational), is a geographic and Cartesian coordinate system and is sometimes known as a "conventional terrestrial" system.

 

EMI

Electromagnetic Interference

 

ENC

Electronic Navigational Chart

 

EPE

Estimated Position Error. Estimated error based on available navigation data.

 

FLS

Forward Looking Sonar

 

FOM

Figure Of Merit. A quantity used to characterize the performance of a device, system or method, relative to its alternatives.

 

GBS

Global Broadcast System

 

GigE

Gigabit Ethernet

 

GLONASS

Global Navigation Satellite System. GLONASS is a Russian space-based satellite navigation system operating as part of a radionavigation-satellite service. It provides an alternative to GPS and is the second navigational system in operation with global coverage and of comparable precision. https://en.wikipedia.org/wiki/GLONASS

 

GPS

Global Positioning System. A navigational system using satellite signals to fix the location of a radio receiver on or above the earth's surface.

 

GUI

Graphical User Interface

 

ICD

Interface Control Document

 

IMU

Inertial Measurement Unit

 

INS

Inertial Navigation System.

 

LARS

Launch and Recovery System

 

LBL

Long Base Line acoustic positioning system

 

LCM

Lightweight Communications and Marshalling. A publish/subscribe message-passing system; targeted at real-time systems where high-bandwidth and low latency are critical.

 

LOS

Line of Sight

 

Marker

A navigation aid. Markers have no navigation utility but are useful for marking mission features or events. Saved in the mission along with route waypoints

 

MLO

Mine Like Object

 

MOB

Man Overboard marker. Used in Workspace to record the position and attitude of the vehicle at the moment in time.

 

MPL

Mission Planning Laptop.

 

Multicast

Group communication where data transmission is addressed to a group of destination computers simultaneously. Multicast can be one-to-many or many-to-many distribution.

 

NED

North East Down

 

NIC

Network Interface Card. Allows both wired and wireless communications. Allows communications via Local Area Network (LAN) as well as communications over large-scale network through Internet Protocol (IP).

 

NTP

Network Time Protocol. A networking protocol for clock synchronization between computer systems over packet-switched, variable-latency data networks.

 

OEM

Original Equipment Manufacturer

 

OPENSEA

Open Software and Equipment Architecture. Greensea open architecture software platform for the marine robotics industry; the foundation on which all Greensea technology is built.

 

Path following

A control law that keeps the vehicle on the path between two waypoints.

 

PCB

Printed Circuit Board

 

PCOMMS

Primary Communications. Generic communications between vehicle components (devices, navigation, and control) and topside components (operator interfaces).

 

PCS

Payload Control Software

 

PID

Proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control.

 

POE

Project Opensea Environment. Also, in networking: Power over Ethernet.

 

POI

Point of Interest

 

RCOMMS

Remote Communications

 

RF

Radio Frequency

 

RNAV

Recon Navigation System

 

RNC

Raster Navigational Chart

 

Route

Mission Planning/Navigation: A collection of waypoints and tracks from a starting point to an endpoint. Networking: A path for network traffic, in a network or between or across multiple networks.

 

ROV

Remotely Operated Vehicle

 

SATCOM

Satellite Communications

 

SDI

Serial Digital Interface

 

SDK

Software Development Kit. A set of tools, guidelines, and programs used to develop applications for a specific platform.

 

SLAM

Simultaneous Localization and Mapping

 

SOG

Speed Over Ground. Current vehicle speed relative to the seabed.

 

TMS

Tether Management System

 

TTN

Time to Next. The time to the next waypoint in the route based on the present transit speed.

 

UAV

Unmanned Arial Vehicle

 

UI

User Interface

 

UMAA

Unmanned Maritime Autonomy Architecture

 

USBL

Ultra Short Base Line acoustic positioning system

 

USV

Unmanned Surface Vessel

 

UUV

Unmanned Underwater Vehicle.

 

VALOR

Versatile and Lightweight Observation ROV

 

vLBV

Vectored Little Benthic Vehicle

 

VM

Virtual Machine

 

Waypoint

A geographical location/destination. A three-dimensional point in the water described by a Latitude, Longitude, and depth (or altitude). The fundamental component of a mission or a route is a waypoint.

 

Waypoint Tolerance

Waypoint radius. When the vehicle reaches the waypoint tolerance it will consider the waypoint achieved.

 

WYSIWYG

"What You See Is What You Get"

 

XTE

Cross Track Error. The distance to the left or right the vehicle is from the path. This is the error in the path following control law.

 

θ

Pitch. Vehicle movement around the Y axis. For example, the vehicle noses up or down.

 

Φ

Roll. Vehicle rotation about the X axis. This can be seen in body tilt from side to side.

 

Ψ

Yaw (heading). Vehicle rotational travel from the Z axis (vertical) or crablike movement.