Design and investigation of dead reckoning system with accommodation to sensors errors for autonomous underwater vehicle

Filaretov, Vladimir; Zhirabok, Alexey; Zyev, A.V.; Alexander, Priscilla; Tuphanov, Igor E.; Scherbatyuk, Alexander

doi:10.23919/oceans.2015.7401832

Cited by 13 publications

(4 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The methods assume a motion model whose parameters are updated by filtering techniques, and the work in [19] uses the motion model to identify faulty sensory information. Considering the challenge in determining a motion model, the methods in [20,21] use unconventional filtering techniques with the aim of being robust to various dynamics and noise distribution types. Instead, the works in [22][23][24] use the known dimensions of the AUV to form a hydrodynamic model, which, in turn is used in the filtering scheme to obtain a better dynamic model.…”

Section: Approaches For Underwater Dead Reckoningmentioning

confidence: 99%

Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †

Klein

Diamant

2020

JMSE

View full text Add to dashboard Cite

Between external position updates, the most useful technique for trajectory estimation of a submerged drifter is dead reckoning (DR). These devices drift with the water current to measure the current’s velocity or to observe physical phenomena. We focus on the specific but important case of when the drifter, due to its size and shape, experiences acceleration by the water current, an effect that must be taken into account during the DR. The force induced by the water current over the drifter is translated into a shift in the heading direction, thus creating a horizontal (sideslip) and a vertical (angle of attack) directional angles between the drifter’s moving direction and its body frame. In this paper, we extend and modify techniques used for pedestrian DR and propose PCA-DR: a principle component analysis-based DR algorithm to estimate the directional angles. Used for cases where the water current is significant such that its force induces acceleration over the drifter and used only for short time periods of a few seconds between navigation fixes, PCA-DR uses acceleration measurements only and does not assume knowledge of the drifter’s dynamics. Instead, as part of the DR process, PCA-DR estimates the directional angles induced by the water current. Compared to the traditional DR approach, our results demonstrate good navigation performance. A designated sea experiment demonstrates the applicability of PCA-DR in a realistic sea environment.

show abstract

Section: Approaches For Underwater Dead Reckoningmentioning

confidence: 99%

Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †

Klein

Diamant

2020

JMSE

View full text Add to dashboard Cite

show abstract

“…Underwater dead reckoning heavily relies on the dynamic motion model of a AUV, and even under the same trajectory, accumulated errors may result in different values [11,12]. Therefore, utilizing a dynamic motion model is crucial for eliminating uncertainties caused by measurement noise and temporal variations between independent trajectories.…”

Section: Introductionmentioning

confidence: 99%

Localization Uncertainty Estimation for Autonomous Underwater Vehicle Navigation

Zhang¹,

Zhang

Wang

et al. 2023

JMSE

View full text Add to dashboard Cite

High-precision positioning capability is a crucial technology for achieving accurate navigation in autonomous underwater vehicles (AUVs). However, due to severe electromagnetic wave attenuation underwater and the unavailability of the global positioning system (GPS), inertial-navigation-based dead reckoning is considered the primary method for underwater positioning. Unfortunately, errors accumulated during the navigation process lead to unbounded drift, and filtering-based methods have been used to mitigate the errors, but with limited success. In this paper, we propose a precise underwater dead-reckoning mathematical model that recursively calculates the ground truth and corresponding errors based on an AUV’s motion model, and we derive empirical formulas. Compared to related methods, this approach not only models the cumulative errors of relative noise measurements, but also provides recursive expressions with corresponding statistical moments. The experimental results demonstrate that this formula significantly reduces positioning errors in underwater navigation tasks.

show abstract

“…In [23], the authors present a method to correct navigation errors based on magnetic positioning to locate an automated guided vehicle (AGV), the magnetic sensor detects some properties of the magnetic field which are fused with the measurement of the sensors (encoder, IMU) to calculate and adjust the relative position of the AGV. Meanwhile in [3], is shown that through experimental results, the static and dynamic localization accuracy of the AGV can be improved using a laser positioning system and a matching algorithm based on Dead Reckoning. Other authors, propose use an AHRS and odometer to implement the Dead Reckoning technique, and for estimating the inclination of the orientation sensor, the authors add an extended Kalman filter (EKF) that helps to reduce the drift in the navigation system, obtaining a better precision even in the face of external disturbances, see [16].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dyn manuscript No. (will be inserted by the editor) Trajectory design with finite time properties in precision positioning maneuvers

Ibarra

Manzanilla

Castillo

et al. 2022

Preprint

View full text Add to dashboard Cite

In this paper is presented a new technique to design trajectories with finite time convergence properties for precision tracking maneuvers in unmanned vehicles. This technique allows the finite time positioning on sequentially distributed points, the properties for the trajectory guarantee to start in an initial point with velocity and acceleration zero, and position itself on the subsequent point with finite time convergence, again with velocity and acceleration zero. Such trajectory depends exclusively of the time and of the initial and last position. In addition, this technique could be used to design open loop controllers to be implemented in mobile robotics applications that require long accuracy. To show the controllers feasibility we considering the kinematic car model with finite time properties, obtaining an open loop control for the car’s velocity and steering the vehicle to desired trajectory, where simulation results present the control performance and effectiveness.

show abstract

Design and investigation of dead reckoning system with accommodation to sensors errors for autonomous underwater vehicle

Cited by 13 publications

References 4 publications

Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †

Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †

Localization Uncertainty Estimation for Autonomous Underwater Vehicle Navigation

Nonlinear Dyn manuscript No. (will be inserted by the editor) Trajectory design with finite time properties in precision positioning maneuvers

Contact Info

Product

Resources

About