SOW_7_23_15.doc

Naval Oceanographic Office Statement of Work

Version 1.0 6/15/15

STATEMENT OF WORK

FOR

SHEPARD AUTONOMOUS UNDERWATER VEHICLE (AUV) NAVIGATIONAL SYSTEM UPGRADE

1.0 INTRODUCTION

The Naval Oceanographic Office (NAVO) currently produces a ship deployable environmental data acquisition system. However, to optimize deployment and recovery, a Mobile Acoustic Recording System (MARS) was designed by Virginia Tech. This mobile platform is a low-cost, easy-to-manufacture, Autonomous Underwater Vehicle (AUV) that has long-term mooring capability and the ability to house a NAVO acquisition system. To recover a deployed MARS AUV, NAVO has modified a MARS AUV to do this mission. It is referred to as a Shepherd AUV and will be used to acoustically command each bottom deployed MARS AUV to unmoor itself and travel to a location for recovery. However, the Shepherd AUV will need an upgraded navigation system so that it can accurately travel to each MARS AUV location which could be up to 50 nautical miles away. To improve the navigation accuracy of the Shepherd AUV, a Fiber Optic Gyroscope (FOG) inertial navigation unit will be installed to aid in the navigation upgrade. However, once this hardware is installed, inertial navigation algorithms will need to be developed that incorporates the data from this FOG and associated sensors for the Shepherd AUV.

2.0 SCOPE

Upgrade the Shepard Autonomous Underwater Vehicle navigational system.

3.0 OBJECTIVE

The requirement is to develop an inertial navigation algorithm filter that will estimate the position of the Shepherd AUV from data provided by an installed Fiber Optic Gyroscope inertial navigation unit. The navigation filter will be able to process data from the FOG and estimate true North, linear velocity, attitude and position with respect to a reference frame. The filter will also incorporate data from a Doppler Velocity Log (DVL) that is located in the AUV. This data will be used for error feedback for the estimated velocity. Lastly, the filter will be able to incorporate and use position information from external sources such as GPS data and acoustic ranging positions from deployed acoustic buoys.

4.0 REQUIREMENTS

4.1. The contractor shall develop an inertial navigation filter algorithm that processes data from a FOG, DVL, and other external position sensors to accurately navigate to underwater positions up to 50 nautical miles away.

4.2. The software code shall be written in C language and compatible with the software that is currently installed in the Shepherd AUV.

5.0 PROJECT DELIVERABLES

Project deliverables will consist of the following:

5.1. The contractor shall develop and submit a list of project milestones within 30 days after contract award.

5.2. Final and complete software code and documentation.

5.3. A monthly telephone conference detailing work status.

5.4. Detailed quarterly progress report.

6.0 PROJECT SCHEDULE

The contractor shall develop and submit a list of project milestones within 30 days after contract award. The milestones shall identify the percentage of completion each quarter. The milestones will be approved by the Government representative within 7 days after receipt.

7.0 PROJECT ASSISTANCE

To assist the contractor in the development of the navigation filter, NAVO will supply sensor data and any necessary documentation for the installed sensors on the Shepherd AUV. To collect AUV sensor data, NAVO can supply data from bench top testing and from actual in-water testing from a local lake located here at Stennis Space Center.

8.0 PROJECT PERFORMANCE

Performance will be measured against the contractor’s accomplishment of the project schedule milestones, quarterly reports, and final software code and documentation.

9.0 PERIOD OF PERFORMANCE

The period of performance is twelve (12) months from the date of contract award.

10.0 PLACE OF PERFORMANCE

The work required by this contract will be performed at the contractor’s facility.

11.0 PAYMENT SCHEDULE

The contractor shall submit an invoice quarterly based on the percentage of project completion for that quarter. The invoice shall not be submitted until after the defined Government approved milestones have been achieved and the Government technical representative has concurred in writing. The contractor shall submit the final invoice after the final and complete software code and documentation has been accepted by the Government technical representative. Government acceptance shall be identified in writing.

12.0 TRAVEL

No contractor travel is anticipated. An initial meeting may be required after contract award. If required, the Government representatives will travel to the contractor’s facility.

13.0 POINT OF CONTACT

NAVO, Code N9 will provide funding and assistance for this effort. The N9 contract representative is Mr. John Brusstar (Code N93) who can be reached at (228) 689-8016.