Absolute Positioning of an Autonomous Underwater Vehicle Using GPS and Acoustic Measurements

Kussat, N.H.; Chadwell, C. D.; Zimmerman, Richard S.

doi:10.1109/joe.2004.835249

Cited by 157 publications

(65 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Nevertheless, there usually are situations where the robot does not encounter a sufficient number of, or any, such features for the navigation system to reference, hence static-feature-based navigation schemes become inapplicable. The second category of aided navigation systems utilizes features' states that are time-dependent, such as the location of moving beacons [8], [13], or neighboring robots [14], [15]. However, the dynamics governing the changes in states of these features are often not utilized.…”

Section: Introductionmentioning

confidence: 99%

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Song

Mohseni

2018

IEEE J. Oceanic Eng.

View full text Add to dashboard Cite

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in longduration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this concept through mid-depth, underwater navigation. This strategy mitigates dead-reckoning uncertainty of a traditional inertial navigation system by comparing the estimate of local, ambient flow velocity with preloaded ocean current maps. The proposed navigation system is implemented through a marginalized particle filter where the vehicle's states are sequentially tracked along with sensor bias and local turbulence that is not resolved by general flow prediction. The performance of the proposed approach is first analyzed through Monte Carlo simulations in two artificial background flow fields, resembling real-world ocean circulation patterns, superposed with smaller-scale, turbulent components with Kolmogorov energy spectrum. The current-aided navigation scheme significantly improves the dead-reckoning performance of the vehicle even when unresolved, small-scale flow perturbations are present. For a 6-hour navigation with an automotive-grade inertial navigation system, the currentaided navigation scheme results in positioning estimates with under 3% uncertainty per distance traveled (UDT) in a turbulent, double-gyre flow field, and under 7.3% UDT in a turbulent, meandering jet flow field. Further evaluation with field test data and actual ocean simulation analysis demonstrates consistent performance for a 6-hour mission, positioning result with under 25% UDT for a 24-hour navigation when provided direct heading measurements, and terminal positioning estimate with 16% UDT at the cost of increased uncertainty at an early stage of the navigation.

show abstract

Section: Introductionmentioning

confidence: 99%

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Song

Mohseni

2018

IEEE J. Oceanic Eng.

View full text Add to dashboard Cite

show abstract

“…Temporal variations of the water-column sound-speed profile (SSP) are addressed using hourly expendable bathythermograph (XBT) and expendable conductivity-temperature-depth (XCTD) measurements. [1][2][3][4][5] However, due to the imprecise fall rate of XBTs (from which depth is inferred) and the low-precision depth sensors on XCTDs, 6 a horizontal localization error of approximately 28 cm can be generated in localizing a single transponder, according to a simulation by Yamada et al 7 Efforts have been made to estimate the SSP variation to improve localization accuracy beyond depending only on XBT/XCTD measurements. Fujita et al 8 found that depth-independent shifts of the SSP work well in compensating for the actual depth-dependent temporal variation, with these shifts estimated as part of a localization inversion.…”

Section: Introductionmentioning

confidence: 99%

Joint inversion for transponder localization and sound-speed profile temporal variation in high-precision acoustic surveys

Dosso

Sun³

2016

The Journal of the Acoustical Society of America

View full text Add to dashboard Cite

This letter develops a Bayesian inversion for localizing underwater acoustic transponders using a surface ship which compensates for sound-speed profile (SSP) temporal variation during the survey. The method is based on dividing observed acoustic travel-time data into time segments and including depth-independent SSP variations for each segment as additional unknown parameters to approximate the SSP temporal variation. SSP variations are estimated jointly with transponder locations, rather than calculated separately as in existing two-step inversions. Simulation and sea-trial results show this localization/SSP joint inversion performs better than two-step inversion in terms of localization accuracy, agreement with measured SSP variations, and computational efficiency.

show abstract

“…In LBL systems, some acoustic transducers with known positions are deployed on the seafloor, working in a similar way as the beacons in an airborne acoustic positioning system [1]. These systems provide high performance, but are expensive in terms of deployment and calibration.…”

Section: Introductionmentioning

confidence: 99%