Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System

Miller, Alexander B.; Miller, Bruce W.; Miller, Gregory

doi:10.3390/drones5030083

Cited by 19 publications

(10 citation statements)

References 62 publications

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“…Vision-based techniques depend on the establishment of image libraries and the precision of image processing [10][11][12]. The inertial navigation system (INS) is typically integrated with several auxiliary methods, however, over time, the positioning inaccuracies build [3,13]. Due to its exceptional capacity to transmit underwater, the underwater acoustic navigation system is widely used in the navigation of AUVs, which is abbreviated as the system for simplicity in the following text.…”

Section: Introductionmentioning

confidence: 99%

High frame rate acoustic navigation of AUV based on range ambiguity suppression

Li,

Fu,

Zou

et al. 2024

Meas. Sci. Technol.

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Underwater acoustic navigation is extensively utilized across many industries due to its exceptional dependability and continuous real-time functionality. Due to the swift advancement of technology in recent years, the velocity of autonomous underwater vehicles (AUVs) has progressively increased. A high frame rate is required for the underwater acoustic navigation system in order to precisely obtain the trajectory of the AUV. Nevertheless, the discrepancy lies in the fact that the high frame rate and the unambiguous measurement could be seen as contradictory. Higher frame rates greatly raise the probability of range ambiguity, leading to various potential pseudo solutions that exacerbate the difficulty of accurate positioning and noticeably impact navigation performance. To address the aforementioned issue, a high frame rate acoustic navigation technique that relies on the suppression of range ambiguity has been studied in this paper. Initially, the relationship between measurements were investigated, specifically the time delay and Doppler shift, and the confusing periodic leap. Subsequently, the coupling model was employed to develop a high-precision acoustic navigation model, taking into account the statistical characteristics of measurements. We also examined a high-precision solving approach. Ultimately, the proposed method was validated through both simulation analysis and field testing to confirm its practicality and efficiency. The results demonstrate that it can attain a high level of accuracy in resolving the ambiguous problem and achieve high-precise acoustic navigation.

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Section: Introductionmentioning

confidence: 99%

High frame rate acoustic navigation of AUV based on range ambiguity suppression

Li,

Fu,

Zou

et al. 2024

Meas. Sci. Technol.

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show abstract

“…Moreover, current underwater sensing challenges were also considered. For example, some interesting topics include underwater active optical 3D scanners [ 14 ], visual–inertial simultaneous localization and mapping [ 15 ], the integration of acoustic sensing with the onboard inertial navigation system [ 16 ], target detection and recognition in underwater turbid areas [ 17 ], and fish geometry measurements from hatchery images [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Underwater Vehicles: Identifying Critical Issues and Future Perspectives in Image Acquisition

Monterroso Muñoz,

Moron-Fernández,

Cascado-Caballero

et al. 2023

Sensors

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Underwater imaging has been present for many decades due to its relevance in vision and navigation systems. In recent years, advances in robotics have led to the availability of autonomous or unmanned underwater vehicles (AUVs, UUVs). Despite the rapid development of new studies and promising algorithms in this field, there is currently a lack of research toward standardized, general-approach proposals. This issue has been stated in the literature as a limiting factor to be addressed in the future. The key starting point of this work is to identify a synergistic effect between professional photography and scientific fields by analyzing image acquisition issues. Subsequently, we discuss underwater image enhancement and quality assessment, image mosaicking and algorithmic concerns as the last processing step. In this line, statistics about 120 AUV articles fro recent decades have been analyzed, with a special focus on state-of-the-art papers from recent years. Therefore, the aim of this paper is to identify critical issues in autonomous underwater vehicles encompassing the entire process, starting from optical issues in image sensing and ending with some issues related to algorithmic processing. In addition, a global underwater workflow is proposed, extracting future requirements, outcome effects and new perspectives in this context.

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“…The acoustic positioning system can be classified into three types based on the geometrical configurations of the dive beacon and localization solution models: Long Base Line (LBL), Short Base Line (SBL), and Ultra Short Base Line (USBL) [1] [2] . Among these, the LBL acoustic positioning system is known for its high positioning accuracy over a wide range and relatively easy calibration work [3] . Several key technologies affect the positioning accuracy of the LBL positioning system, including improvements in positioning models and solving technology, hydroacoustic signal processing technology, time delay estimation technology, and sound rays bending correction technology, etc.…”

Section: Introductionmentioning

confidence: 99%

A high precision localization method for underwater targets incorporating direct path recognition and sound rays bending compensation

Cui,

Ji,

et al. 2023

Preprint

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Underwater target localization technology plays a vital role in the development and utilization of marine resources. Due to the multipath effect in the hydroacoustic channel, the received signal is the superposition of a series of direct and reflected acoustic paths, making it challenging to accurately identify the direct path using existing methods. To address this issue, this paper proposes a high-precision direct path recognition method based on LightGBM, which utilizes the amplitude, Time of Arrival (TOA), reception angle, and phase of the received pulse as input features. Meanwhile, due to the propagation time of acoustic waves from transmitter to receiver cannot be linearly converted to a distance value, as in the case of radio ranging in air, a method based on Effective Sound Velocity (ESV) is introduced to compensate for the bending of sound rays. By utilizing the recognized direct path delay value and the sound velocity value after compensating for sound ray bending, we can calculate the precise position of underwater targets. Experimental results validate the effectiveness of the proposed method in significantly improving the accuracy of underwater target localization.

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Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System

Cited by 19 publications

References 62 publications

High frame rate acoustic navigation of AUV based on range ambiguity suppression

High frame rate acoustic navigation of AUV based on range ambiguity suppression

Autonomous Underwater Vehicles: Identifying Critical Issues and Future Perspectives in Image Acquisition

A high precision localization method for underwater targets incorporating direct path recognition and sound rays bending compensation

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