OFG: AUV Navigation Research





AUV Navigation Research Abstract

This paper extends the progress of single beacon one-way-travel-time (OWTT) range measurements for constraining XY position for autonomous underwater vehicles (AUV).

Traditional navigation algorithms have used OWTT measurements to constrain an inertial navigation system aided by a Doppler Velocity Log (DVL). These methodologies limit AUV applications to where DVL bottom-lock is available as well as the necessity for expensive strap-down sensors, such as the DVL. Thus, deep water, mid-water column research has mostly been left untouched, and vehicles that need expensive strap-down sensors restrict the possibility of using multiple AUVs to explore a certain area.

This work presents a solution for accurate navigation and localization using a vehicle’s odometry determined by its dynamic model velocity and constrained by OWTT range measurements from a topside source beacon as well as other AUVs operating in proximity.

We present a comparison of two navigation algorithms: an Extended Kalman Filter (EKF) and a Particle Filter(PF). Both of these algorithms also incorporate a water velocity bias estimator that further enhances the navigation accuracy and localization. Closed-loop online field results on local waters as well as a real-time implementation of two days field trials operating in Monterey Bay, California during the Keck Institute for Space Studies oceanographic research project prove the accuracy of this methodology with a root mean square error on the order of tens of meters compared to GPS position over a distance traveled of multiple kilometers.

More     Link     Full Article

Leave a Reply

Your email address will not be published. Required fields are marked *

I accept that my given data and my IP address is sent to a server in the USA only for the purpose of spam prevention through the Akismet program.More information on Akismet and GDPR.

This site uses Akismet to reduce spam. Learn how your comment data is processed.