Advances in Doppler-based navigation of underwater robotic vehicles

Whitcomb, Louis L.; Yoerger, D.; Singh, Hanumant

doi:10.1109/robot.1999.770011

Cited by 164 publications

(130 citation statements)

References 11 publications

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“…223254. filters for underwater navigation using LBL measurements are suggested in Batista (2015), Batista (2014), and a globally asymptotically stable (GAS) filter is suggested in Batista et al (2010). Some classical approaches for underwater navigation using LBL measurements can be found in Vaganay et al (1998), Bell et al (1991), Alcocer et al (2007), Kinsey and Whitcomb (2004) and Whitcomb et al (1999).…”

Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

2016

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This paper considers the problem of constructing a globally convergent positionand velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range robustness of the three stage filter for long baseline measurements with unknown wave speed are suggested. One addition is employing depth measurements in addition to pseudo-range measurements, thus increasing range noise robustness and relaxing requirements for transponder placement from not co-planar to not colinear. Furthermore, a Kalman Filter with a linear measurement model is used, instead of a pseudo-linear time-varying measurement model and a step solving an optimization problem is also added. The proposed scheme is validated through simulation and compared to a standard Extended Kalman Filter and a perfect (non-implementable) Linearized Kalman Filter using real states as linearization point. Simulations suggest that the improved three stage filter will have similar stationary performance as the EKF while having significantly better transient performance and stability subjected to inaccurate initial estimates.

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Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

2016

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“…They are used in DR [18,19], in combined LBL/DR navigation systems [20,21], or as an aiding input to an INS [10,22]. In some cases, upward-looking DVLs have been used to measure vehicle velocity relative to overhead ice [23].…”

Section: Doppler Velocity Logmentioning

confidence: 99%

Contributions to automated realtime underwater navigation

Stanway¹

2012

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This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads are: i) in situ navigation sensor alignment, ii) dead reckoning through the water column, and iii) model-driven delayed measurement fusion. Contributions to each of these areas have been demonstrated in simulation, with laboratory data, or in the field-some have been demonstrated in all three arenas.The solution to the in situ navigation sensor alignment problem is an asymptotically stable adaptive identifier formulated using rotors in Geometric Algebra. This identifier is applied to precisely estimate the unknown alignment between a gyrocompass and Doppler velocity log, with the goal of improving realtime dead reckoning navigation. Laboratory and field results show the identifier performs comparably to previously reported methods using rotation matrices, providing an alignment estimate that reduces the position residuals between dead reckoning and an external acoustic positioning system. The Geometric Algebra formulation also encourages a straightforward interpretation of the identifier as a proportional feedback regulator on the observable output error. Future applications of the identifier may include alignment between inertial, visual, and acoustic sensors.The ability to link the Global Positioning System at the surface to precision dead reckoning near the seafloor might enable new kinds of missions for autonomous underwater vehicles. This research introduces a method for dead reckoning through the water column using water current profile data collected by an onboard acoustic Doppler current profiler. Overlapping relative current profiles provide information to simultaneously estimate the vehicle velocity and local ocean current-the vehicle velocity is then integrated to estimate position. The method is applied to field data using online bin average, weighted least squares, and recursive least squares implementations. This demonstrates an autonomous navigation link between the surface and the seafloor without any dependence on a ship or external acoustic tracking systems. 3Finally, in many state estimation applications, delayed measurements present an interesting challenge. Underwater navigation is a particularly compelling case because of the relatively long delays inherent in all available position measurements. This research develops a flexible, model-driven approach to delayed measurement fusion in realtime Kalman filters. Using a priori estimates of delayed measurements as augmented states minimizes the computational cost of the delay treatment. Managing the augmented states with time-varying conditional process and measurement models ensures the approach works within the proven Kalman filter framework-without altering the filter structure or requiring any ad-hoc adjust...

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“…The modern AUV contains proprioceptive sensors such as compasses, fiber-optic gyroscopes (FOG), and Doppler velocity loggers (DVL) [82]. The sensor output of these sensors is fused together using navigation filters, such as the EKF, to produce a high-quality estimate of the AUV position and uncertainty.…”

Section: Navigation In Marine Environmentsmentioning

confidence: 99%

“…Using time-of-flight measurements with acoustic beacons has been commonly used in underwater navigation [83,84,86] to obtain a global position estimate; it has also proved successful in various applications like underwater archaeology [52] and ship hull inspection [29]. Here, we want to avoid the need for external infrastructure and instead are interested in achieving drift-free navigation by using the onboard imaging sonar.…”

Section: Loop Closure: Ship Hull Inspectionmentioning

confidence: 99%

Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

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Accurate navigation is a fundamental requirement for robotic systemsmarine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes

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Advances in Doppler-based navigation of underwater robotic vehicles

Cited by 164 publications

References 11 publications

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

Contributions to automated realtime underwater navigation

Simultaneous Localization and Mapping in Marine Environments

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