Docking for an autonomous ocean sampling network

Singh, Hanumant; Bellingham, James; Hover, Franz S.; Lemer, S.; Moran, B.A.; Heydt, Keith von der; Yoerger, D.

doi:10.1109/48.972084

Cited by 186 publications

(70 citation statements)

References 9 publications

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“…Previous work using modems and synchronous-clock navigation has been reported in [12] for autonomous surface-craft; in that work each vehicle was equipped with a GPS receiver to provide a common timebase for synchronous ranging. Synchronous-pinger OWTT navigation was reported in [13] where integrated range-rate positioning was used for autonomous underwater vehicle (AUV) docking using an early predecessor of the modern WHOI Micro-Modem. Non-modem synchronousclock OWTT ranging has been reported in [2] for "in-hull navigation" of the manned deep-submergence vehicle Alvin.…”

Section: Introductionmentioning

confidence: 99%

Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles

Eustice

Whitcomb

Singh

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

120

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Abstract-This paper reports recent experimental results in the development and deployment of a synchronous-clock acoustic navigation system suitable for the simultaneous navigation of multiple underwater vehicles. The goal of this work is to enable the task of navigating multiple autonomous underwater vehicles (AUVs) over length scales of O(100 km), while maintaining error tolerances commensurate with conventional longbaseline transponder-based navigation systems (i.e., O(1 m)), but without the requisite need for deploying, calibrating, and recovering seafloor anchored acoustic transponders. Our navigation system is comprised of an acoustic modem-based communication/navigation system that allows for onboard navigational data to be broadcast as a data packet by a source node, and for all passively receiving nodes to be able to decode the data packet to obtain a one-way travel time pseudo-range measurement and ephemeris data. We present results for two different field experiments using a two-node configuration consisting of a global positioning system (GPS) equipped surface ship acting as a global navigation aid to a Doppler-aided AUV. In each experiment, vehicle position was independently corroborated by other standard navigation means. Initial results for a maximumlikelihood sensor fusion framework are reported.

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Section: Introductionmentioning

confidence: 99%

Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles

Eustice

Whitcomb

Singh

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

120

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“…Even though USBL systems generally have the worst positioning accuracy compared to LBL and SBL systems, the advantages of low system complexity, small space requirement, and easy installation make them well suited for underwater vehicles (Kinsey et al, 2006). In particular, USBL systems are effective for homing and docking operations under the ice in the Arctic region (Singh et al, 2001).…”

Section: Introductionmentioning

confidence: 99%

The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part I: Numerical Simulations

Chen

2013

J. Navigation

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Ultra Short Baseline (USBL) navigation systems are often faced with positioning errors arising from misalignments between sensors. This paper proposes a line survey method for USBL angular alignment calibration. In the scheme of USBL line survey, mathematical representations of positioning error arising from heading, pitch and roll misalignments are derived, respectively. The effect of each misalignment angle and how the differences can be used to calibrate each misalignment angle in turn are presented. An iterative algorithm that takes advantage of the geometry of position errors resulting from angular misalignments is developed for USBL calibration. Numerical simulations are provided to demonstrate the effectiveness of the USBL line survey approach. In addition, the effect of measurement error on the estimation of roll alignment error is evaluated and discussed. K E Y

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“…( [1], [2], [3], [4], [5], [6], [7], [8]). The most common solution is a funnel shaped entrance and a latching system that holds and connects the vehicle, together with a straight line trajectory that guides the vehicle inside the docking station [9], [10].…”

Section: Introductionmentioning

confidence: 99%

A hybrid approach to underwater docking of AUVs with cross-current

Sans-Muntadas

Pettersen

Brekke

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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Abstract-This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is unable to control its sway motion, to dock with no crab angle, in the presence of cross-currents. Docking without a crab angle can be beneficial in cases where the geometry of the docking station entrance does not allow entering with crab angles.In order to successfully dock under such restrictions, a path planner and two guidance laws are proposed. By properly switching between the two guidance laws, it is possible for the vehicle to slide cross-current into the docking station.

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Docking for an autonomous ocean sampling network

Cited by 186 publications

References 9 publications

Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles

Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles

The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part I: Numerical Simulations

A hybrid approach to underwater docking of AUVs with cross-current

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