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Related Concept Videos

Polar Coordinates01:24

Polar Coordinates

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The polar coordinate system offers an alternative to the Cartesian coordinate system for specifying points in a plane, using a distance and an angle instead of x and y coordinates. This system is particularly advantageous in situations involving circular or rotational symmetry, such as in physics or engineering problems involving waves, oscillations, or orbital paths.Defining Polar CoordinatesIn polar coordinates, a point is represented as P(r, ��), where r is the radial distance...
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Polar and Cylindrical Coordinates01:22

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The Cartesian coordinate system is a very convenient tool to use when describing the displacements and velocities of objects and the forces acting on them. However, it becomes cumbersome when we need to describe the rotation of objects. So, when describing rotation, the polar coordinate system is generally used.
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Curvilinear Motion: Polar Coordinates01:27

Curvilinear Motion: Polar Coordinates

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In polar coordinates, the motion of a particle follows a curvilinear path. The radial coordinate symbolized as 'r,' extends outward from a fixed origin to the particle, while the angular coordinate, 'θ,' measured in radians, represents the counterclockwise angle between a fixed reference line and the radial line connecting the origin to the particle.
The particle's location is described using a unit vector along the radial direction. Deriving the particle's position...
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Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Graphs of Polar Equations01:17

Graphs of Polar Equations

362
The polar coordinate system represents points using a distance from a central point (the pole) and an angle from a reference direction (the polar axis). Unlike rectangular coordinates, polar coordinates are ideal for graphing curves with radial symmetry or periodic behavior.Some general forms of graphs in polar coordinates include the following:Equation of a Circle (Centered at the Pole):A graph where the radius remains constant for all angles traces a circle centered at the pole:Equation of a...
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Uniform Depth Channel Flow: Problem Solving01:18

Uniform Depth Channel Flow: Problem Solving

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To calculate the flow rate for a trapezoidal channel, first, identify the bottom width, side slope, and flow depth of the channel. The cross-sectional area (A) corresponding to the depth of flow (y), channel bottom width (B), and side slope (θ) is determined by:Next, calculate the wetted perimeter, which includes the bottom width and the sloped side lengths in contact with the water. Using the values of the cross-sectional area and the wetted perimeter, determine the hydraulic radius by...
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Updated: Feb 26, 2026

Reefshape: A System for the Efficient Collection and Automated Processing of Time-Series Underwater Photogrammetry Data for Benthic Habitat Monitoring
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Polar Grid Navigation Algorithm for Unmanned Underwater Vehicles.

Zheping Yan1, Lu Wang2, Wei Zhang3

  • 1Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University; Harbin 150001, China. yanzheping@hrbeu.edu.cn.

Sensors (Basel, Switzerland)
|July 13, 2017
PubMed
Summary
This summary is machine-generated.

A new polar grid navigation algorithm enables unmanned underwater vehicles (UUVs) to navigate accurately in polar regions. This system overcomes challenges posed by the unique polar environment for reliable UUV missions.

Keywords:
T-S fuzzy logicgrid framemodified adaptive Kalman filterthe polar regionunmanned underwater vehicle (UUV)

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Area of Science:

  • Robotics and Autonomous Systems
  • Navigation and Positioning
  • Oceanography and Polar Studies

Background:

  • Traditional strapdown inertial navigation systems (SINS) are unsuitable for unmanned underwater vehicles (UUVs) in polar regions due to meridian convergence and environmental challenges.
  • Establishing accurate true heading for UUVs is difficult in polar regions, impacting mission success.
  • Complex underwater conditions in the polar region necessitate specialized navigation solutions.

Purpose of the Study:

  • To propose a novel polar grid navigation algorithm for UUVs operating in challenging polar environments.
  • To address the limitations of traditional SINS in polar regions.
  • To enhance the precision and reliability of UUV navigation in the Arctic and Antarctic.

Main Methods:

  • Development of a polar grid navigation algorithm specifically designed for UUVs.
  • Integration of a SINS with OCTANS and Doppler Velocity Log (DVL) for enhanced data acquisition.
  • Implementation of a modified fuzzy adaptive Kalman filter (MFAKF) for data fusion, utilizing T-S fuzzy logic for adaptive noise covariance regulation.

Main Results:

  • The proposed polar grid navigation algorithm demonstrates effective navigation capabilities for UUVs in polar regions.
  • The MFAKF algorithm improves navigation accuracy by adaptively regulating noise covariance and neglecting negative terms.
  • Simulation and experimental results validate the algorithm's performance in challenging polar conditions.

Conclusions:

  • The developed polar grid navigation algorithm provides a viable solution for UUV navigation in polar regions.
  • The integration of SINS, OCTANS, DVL, and MFAKF significantly enhances navigation accuracy and reliability.
  • This research contributes to the advancement of autonomous underwater exploration in extreme polar environments.