The University of Southern Mississippi’s Roger F. Wicker Center for Ocean Enterprise, located at the Port of Gulfport, MS has been researching and testing advanced uncrewed systems using novel sonar sensor designs, and on-board processing to create advanced maps of acoustic sensor data over a broad range of environmental and platform noise conditions. The University of Southern Mississippi (USM) has received funding to purchase a high-resolution GNSS-IMU aided inertial positioning system optimized for marine applications. This system will be integrated into USM’s SeaTrac Multibeam sonar system which will be used to map the location of specific targets inside USM’s CUBEnet test range environment. The University of Southern Mississippi (USM) has developed the environmental measurement framework, data processing, visualization products, and ocean measurement systems required for testing and performance evaluations of these high-resolution SAS systems. This document contains the minimum requirements for a high-resolution GNSS- aided inertial positioning system optimized for marine applications. This GNSS-IMU system will be integrated with USM’s Multibeam system for high resolution target detection, classification, and localization (DCL) of low/medium/high target strength targets over a broad range of environmental and platform noise conditions. This GNSS-IMU system will map the location of proud and partially buried targets deployed in USM’s CUBEnet test range. Specifications include, but are not limited to: General Requirements 1. The system shall provide six-degree positions and orientation data. 2. The system shall provide accurate altitude, heading, heave, pitch and roll, position, and velocity data. 3. The system shall use a high-resolution inertial unit (IMU), use a global navigation satellite system (GNSS), and a small form factor PCS. 4. The system shall have ethernet input and output ports. 5. Time, system status, position, altitude, velocity, track, speed, raw IMU and GNSS data shall be available at this port. 6. The system shall have a display port, UDP protocol. 7. The system shall have a TCP/IP control port.. 8. The system shall have ports that provide data logging to an external device. 9. The system shall have user assignable serial RS 232 input/output ports. 10. The system shall have a NMEA ASCII output that provides system output parameters at a 50 Hz maximum rate and shall be user selectable on each port. 11. The system also shall have a high-speed attitude output (attitude, heading, speed). 12. Output and rates shall be configurable for each port.
