Geophysical Navigation of Autonomous Underwater Vehicles

Teixeira, Francisco Curado; Pascoal, Antóonio Manuel

doi:10.3182/20070919-3-hr-3904.00022

Cited by 22 publications

(54 citation statements)

References 17 publications

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“…See filters configurations parameters in Table 3. A detailed analysis of the performance of different PF algorithms applied to the TAN problem, can be found in Teixeira (2007) and Teixeira et al (2012a).…”

Section: Tan Filters Configurationsmentioning

confidence: 99%

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AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

Teixeira¹,

Quintas²,

Pascoal³

2015

IFAC-PapersOnLine

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The potential of terrain-aided navigation (TAN) of autonomous underwater vehicles (AUVs) has been demonstrated in the last ten years in a series of trials where high localization accuracy was obtained during long periods of time in different types of terrain. Despite these recent advances, it is recognized by the navigation community that further research is necessary to transform TAN into a mature navigation methodology. The present paper describes the work developed towards the development of terrain navigation methods for small AUVs, relying on standard navigation sensors and dispensing with the need of dedicated sensors for terrain data acquisition. The research described addresses the problem of implementation of terrain navigation in underwater scenarios characterized by smooth sea-bottom topography and very shallow water, where the terrain information available for navigation is scarce. The TAN algorithms and the data fusion methods whose tests are documented in the paper build upon prior theoretical work published by the authors. The experimental results reported were obtained recently through trials in the water performed with an autonomous surface vehicle acting as a proxy to an AUV.

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Section: Tan Filters Configurationsmentioning

confidence: 99%

“…Given information on the vehicle position and orientation, the measurement noise variables represented in the vector η are considered mutually independent and are characterized by the time-varying measurement noise intensity matrix R k ; see Teixeira (2007).…”

Section: Noise Modelsmentioning

confidence: 99%

AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

Teixeira¹,

Quintas²,

Pascoal³

2015

IFAC-PapersOnLine

Self Cite

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“…To provide a comparative location for the navigation results developed here the dead-reckoned solution is corrected in post-processing with a water velocity estimate based on the difference between the last deadreckoned location and first GPS location upon surfacing as illustrated in Figure 5. Specifically, for the EKF implementation, is set to the identity matrix = (37) and the velocity, GPS, range and bias estimate standard deviations as in Table 1. For the PF implementation the number of particles N, the dead-reckoning error growth rate DR , and the range dependent error rng are shown in Table 2.…”

Section: Monterey Bay Field Trialsmentioning

confidence: 99%

Closed‐loop one‐way‐travel‐time navigation using low‐grade odometry for autonomous underwater vehicles

Claus

Kepper

Suman

et al. 2017

Journal of Field Robotics

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This paper extends the progress of single beacon one-way-travel-time (OWTT) range measurements for constraining XY position for autonomous underwater vehicles (AUV). Traditional navigation algorithms have used OWTT measurements to constrain an inertial navigation system aided by a Doppler Velocity Log (DVL). These methodologies limit AUV applications to where DVL bottom-lock is available as well as the necessity for expensive strap-down sensors, such as the DVL. Thus, deep water, mid-water column research has mostly been left untouched, and vehicles that need expensive strap-down sensors restrict the possibility of using multiple AUVs to explore a certain area. This work presents a solution for accurate navigation and localization using a vehicle's odometry determined by its dynamic model velocity and constrained by OWTT range measurements from a topside source beacon as well as other AUVs operating in proximity. We present a comparison of two navigation algorithms: an Extended Kalman Filter (EKF) and a Particle Filter(PF). Both of these algorithms also incorporate a water velocity bias estimator that further enhances the navigation accuracy and localization. Closed-loop online field results on local waters as well as a real-time implementation of two days field trials operating in Monterey Bay, California during the Keck Institute for Space Studies oceanographic research project prove the accuracy of this methodology with a root mean square error on the order of tens of meters compared to GPS position over a distance traveled of multiple kilometers.

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“…The radar sometimes observes the top of the trees and some times the floor, being the noise a bi-modal distribution. In underwater applications Teixeira (2007) used a RBPF to merge measurements of range to the bottom (sonar altimeter, forward looking echo sounder , and side looking echo sounder) with deadreckoning data (DVL+MRU). In their approach the state vector contains the 2D robot position and a 2D velocity bias due to unknown ocean currents.…”

Section: Solutions To the Tbnmentioning

confidence: 99%

A survey on Terrain Based Navigation for AUVs

Carreno

Wilson

Ridao

et al. 2010

Oceans 2010 MTS/Ieee Seattle

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Abstract:Terrain Based Navigation (TBN) is a method rooted to the early cruise missile navigation systems, when GPS was not yet available. For decades, TBN has been applied as a complementary system to INS navigation for Unmanned Aerial Vehicles (UAV). In the field of Autonomous Underwater Vehicles (AUVs), it has the potential to bound the drift inherent to dead reckoning navigation, based on INS and/or Doppler Velocity Log (DVL) sensors, as well as to make the navigation beyond the areas of coverture of the acoustic transponder networks, a reality. This paper overviews the main concepts related to TBN and present an exhaustive survey of the works reported in the literature. As a main contribution, a table comparing the motion and the measurement models, as well as the probabilistic framework used for the estimation is reported. An effort has been put on unifying the diverse nomenclature used across the surveyed works. We aim this paper to become an starting point for the researchers interested in this technology, with pointers to the most interested works in the area.

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Geophysical Navigation of Autonomous Underwater Vehicles

Cited by 22 publications

References 17 publications

AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

Closed‐loop one‐way‐travel‐time navigation using low‐grade odometry for autonomous underwater vehicles

A survey on Terrain Based Navigation for AUVs

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