A Terrain-Aided Tracking Algorithm for Marine Systems

Williams, Stefan B.; Mahon, Ian

doi:10.1007/10991459_10

Cited by 13 publications

(10 citation statements)

References 9 publications

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“…One of the first instances of a deployable underwater implementation of the SLAM algorithm was presented by Williams (2001). Similar EKF-based approaches followed as for example the work by Williams and Mahon (2006); Roman and Singh (2005); Koh et al (2009). Fairfield and Wettergreen (2008) also presented some work using PF-based algorithms for SLAM.…”

Section: Underwater Slammentioning

confidence: 94%

“…Moreover, they are particularly sensitive to faulty readings, especially when the vehicle roll and pitch angles are high. Despite that, and because there are cheap sonars, there has been an increasing interest on using altimeter for TBN problems, for example the works by Williams and Mahon (2006); Meduna et al (2008); Kim and Kim (2014).…”

Section: Altimetermentioning

confidence: 99%

“…Various authors have reported the use of PF for underwater terrain navigation. Examples of this are the works by Bachmann and Williams (2003); Karlsson et al (2003); Williams and Mahon (2006); Nakatani et al (2009); Morice et al (2009); Meduna et al (2010); Murangira et al (2011); Stuckey (2012); Melo and Matos (2013).…”

Section: Bayesian Estimationmentioning

confidence: 99%

See 2 more Smart Citations

Survey on advances on terrain based navigation for autonomous underwater vehicles

2017

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The autonomy of robotic underwater vehicles is dependent on the ability to perform long-term and long-range missions without need of human intervention. While current state-of-the-art underwater navigation techniques are able to provide sufficient levels of precision in positioning, they require the use of support vessels or acoustic beacons. This can pose limitations on the size of the survey area, but also on the whole cost of the operations. Terrain Based Navigation is a sensor-based navigation technique that bounds the error growth of deadreckoning using a map with terrain information, provided that there is enough terrain variability. An obvious advantage of Terrain Based Navigation is the fact that no external aiding signals or devices are required. Because of this unique feature, terrain navigation has the potential to dramatically improve the autonomy of Autonomous Underwater Vehicles (AUVs). This paper consists on a comprehensive survey on the recent developments for Terrain Based Navigation methods proposed for AUVs. The survey includes a brief introduction to the original Terrain Based Navigation formulations, as well as a description of the algorithms, and a list of the different implementation alternatives found in the literature. Additionally, and due to the relevance, Bathymetric SLAM techniques will also be discussed.

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Section: Underwater Slammentioning

confidence: 94%

Section: Altimetermentioning

confidence: 99%

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Survey on advances on terrain based navigation for autonomous underwater vehicles

2017

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“…Our objective then was to provide the science team with better geo-referenced navigation data for cruise-based analysis. Since then we have become aware of prior work in the literature regarding terrain-aided Bayesian inference techniques that appear to be statistically more principled [19], [20].…”

Section: Discussionmentioning

confidence: 99%

Towards Bathymetry-Optimized Doppler Re-navigation for AUVs

Eustice

Camilli

Singh

Proceedings of OCEANS 2005 MTS/IEEE

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This paper describes a terrain-aided re-navigation algorithm for autonomous underwater vehicles (AUVs) built around optimizing bottom-lock Doppler velocity log (DVL) tracklines relative to a ship derived bathymetric map. The goal of this work is to improve the precision of AUV DVLbased navigation for near-seafloor science by removing the lowfrequency "drift" associated with a dead-reckoned (DR) Doppler navigation methodology. To do this, we use the discrepancy between vehicle-derived vs. ship-derived acoustic bathymetry as a corrective error measure in a standard nonlinear optimization framework. The advantage of this re-navigation methodology is that it exploits existing ship-derived bathymetric maps to improve vehicle navigation without requiring additional infrastructure. We demonstrate our technique for a recent AUV survey of largescale gas blowout features located along the U.S. Atlantic margin.

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“…4. Άγνωστο περιβάλλον: Το περιβάλλον στο οποίο κινούνται τα αυτόνομα υποβρύχια οχήματα δεν είναι ελεύθερο από σταθερά και κινητά εμπόδια, ενώ πιθανή σύγκρουση μπορεί να έχει σοβαρές συνέπειες στην εξέλιξη της αποστολής και στην ασφαλή ανάκτηση του οχήματος [10].…”

Section: κίνητραunclassified

Ανάπτυξη Υβριδικής Αρχιτεκτονικής Πλοήγησης Αυτόνομων Υποβρύχιων Οχημάτων Με Ασαφή Λογική Και Γενετικούς Αλγόριθμους

Κανακάκης¹

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Με την ολοκλήρωση αυτής της προσπάθειας, θα ήθελα να ευχαριστήσω τον επιβλέποντα Καθηγητή μου, Κο. Νικόλαο Τσουρβελούδη, οι συμβουλές και η συμπαράσταση του οποίου, στον επιστημονικό και στον ανθρώπινο τομέα, υπήρξαν καθοριστικές στην πορεία ολοκλήρωσης της παρούσας δουλειάς.Επίσης, θέλω να ευχαριστήσω τον Καθηγητή μου, Κο. Κίμωνα Βαλαβάνη, με την παρότρυνση του οποίου ξεκίνησε αυτή η ερευνητική προσπάθεια.Επιπλέον, θα ήθελα να ευχαριστήσω τα μέλη της συμβουλευτικής και της εξεταστικής επιτροπής, οι παρατηρήσεις των οποίων συνέβαλαν στην βελτίωση της παρούσας διατριβής. Επίσης ευχαριστώ όλους όσους μου συμπαραστάθηκαν σε όλη την διάρκεια της έρευνας και της συγγραφής της παρούσας διατριβής.Τέλος, ευχαριστώ την οικογένειά μου, και την σύζυγό μου Κέλλυ. Επίσης, ευχαριστώ τους γονείς μου Γιώργο και Αναστασία, στους οποίους αφιερώνω αυτήν την εργασία.

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A Terrain-Aided Tracking Algorithm for Marine Systems

Cited by 13 publications

References 9 publications

Survey on advances on terrain based navigation for autonomous underwater vehicles

Survey on advances on terrain based navigation for autonomous underwater vehicles

Towards Bathymetry-Optimized Doppler Re-navigation for AUVs

Ανάπτυξη Υβριδικής Αρχιτεκτονικής Πλοήγησης Αυτόνομων Υποβρύχιων Οχημάτων Με Ασαφή Λογική Και Γενετικούς Αλγόριθμους

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