Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles

Allotta, Benedetto; Caiti, Andrea; Costanzi, Riccardo; Corato, Francesco Di; Fenucci, Davide; Monni, Niccolò; Pugi, Luca; Ridolfi, Alessandro

doi:10.1007/s10514-016-9594-9

Cited by 37 publications

(33 citation statements)

References 21 publications

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“…This section describes the new features introduced by our proposal and it illustrates in detail the system for two particular types of AUVs called Typhoon and MARTA which have been developed at the University of Firenze, Italy (see [2,3]). In Section 3.3, a brief sketch about other classes of AUVs is given.…”

Section: New Auv Mobility Modelsmentioning

confidence: 99%

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Kinematic Constraints and ns-3 Mobility Models

Franchi

Pecorella

Ridolfi

et al. 2017

Proceedings of the Workshop on Ns-3 - 2017 WNS3

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Recently there has been a renewed interest in ns-3 as a tool for Underwater Acoustic communications, with the integration of World Ocean Simulation System (WOSS, [4, 6]) into ns-3. However, the current implementation of ns-3 does not provide specic models suitable for AUVs (Autonomous Underwater Vehicles) mobility. An old proposal is available, made by Andrea Sacco during his Google Summer of Code (GSoC) 2010 project. However, the code has never been integrated into ns-3. In order to simulate the communications of AUVs, it is mandatory to rely also on simple and eective mobility systems, where the kinematic constraints of the node are taken into account. The requirements of a mobility model for AUVs is to be able to take into account the kinematic model of the real device and to set up a feasible path between two (or more) points. This paper presents a new extensible architecture based on kinematic models, which greatly simplies the simulation complexity.

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Section: New Auv Mobility Modelsmentioning

confidence: 99%

“…An AUV can be used as a single unit, performing most of the task in a given operation. However, teams of AUVs, each of them designed to accomplish a particular task, can be used to optimize the investment and operation costs and to quickly execute a complex mission [2].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Constraints and ns-3 Mobility Models

Franchi

Pecorella

Ridolfi

et al. 2017

Proceedings of the Workshop on Ns-3 - 2017 WNS3

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“…Allotta et al [26,27] integrated propeller and Inertial Measurement Units (IMU) for localization of the AUV. In the case where the AUV moves close to the sea bottom, Doppler Velocity Log (DVL) can be integrated to measure the AUV speed with respect to the ground [26][27][28]. In [29], sensor fusion models that incorporate gyroscope, accelerometer and ultrasound sensors were presented.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships

Kim

2020

Applied Sciences

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This paper introduces the localization method of an Autonomous Underwater Vehicle (AUV) in environments (such as harbors or ports) where there can be passing ships near the AUV. It is assumed that the AUV can access the trajectory and approximate source level of a passing ship, while identifying the ship by processing the ship’s sound. This paper considers an AUV which can localize itself by integrating propeller and Inertial Measurement Units (IMU). Suppose that the AUV has been moving in underwater environments for a long time, under the IMU-only localization. To fix long-term drift in the IMU-only localization, we propose that the AUV localization uses sound measurements of passing ships whose trajectories are known a priori. As far as we know, this AUV localization method is novel in using sound measurements of passing ships of which the trajectories are known a priori. The performance of the proposed localization method is verified utilizing MATLAB simulations. The simulation results show significant estimation improvements, compared to IMU-only localization. Moreover, using measurements from multiple ships gives better estimation results, compared to the case where the measurement of a single ship is used.

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“…Based on the polar grid navigation algorithm and the leader-follower type, a polar cooperative navigation algorithm of multi-UUVs that considers communication delays is discussed in this paper. The leader UUV is equipped with high-precision navigation devices and the follower UUVs are equipped with low-precision navigation devices [17]. The leader UUV sends the information through underwater acoustic communication to the follower UUVs.…”

Section: Introductionmentioning

confidence: 99%

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

Yan

Wang

et al. 2018

Sensors

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To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

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Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles

Cited by 37 publications

References 21 publications

Kinematic Constraints and ns-3 Mobility Models

Kinematic Constraints and ns-3 Mobility Models

Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

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