Towards real-time under-ice acoustic navigation at mesoscale ranges

Webster, Sarah E.; Freitag, Lee; Lee, Craig M.; Gobat, Jason I.

doi:10.1109/icra.2015.7139231

Cited by 29 publications

(29 citation statements)

References 17 publications

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“…Sensors on gliders measure physical variables such as pressure, temperature, salinity, currents, turbulence and wind speed (Cauchy et al, 2018), biological variables relevant to phytoplankton and zooplankton, and ecologically important chemical variables such as dissolved oxygen, irradiance, carbon dioxide, pH (Saba et al, 2018), nitrate and hydrocarbon. Gliders have been developed to sample under-sea ice and ice shelves (Webster et al, 2015;Nelson et al, 2016;, to recover data from other deep instruments via acoustic telemetry and send them to land while at the surface (Send et al, 2013), to detect acoustic tags on fishes (Oliver et al, 2013(Oliver et al, , 2017 and marine mammals. Improved gliders have reached depths of up to 6,000 m (Osse and Eriksen, 2007).…”

Section: Progress Over the Last Decadementioning

confidence: 99%

“…• The Davis Strait was observed repeatedly during [2005][2006][2007][2008][2009][2010][2011][2012][2013][2014] to quantify the exchange between the Arctic Ocean/Baffin Bay and the subpolar North Atlantic (Figure 5A; Beszczynska-Möller et al, 2011;Curry et al, 2014;Webster et al, 2015). Although this effort succeeded in collecting yearround observations across the seasonally ice-covered strait, challenging logistics, harsh operating conditions and funding prevented continuous occupation of the section over the entire 2005-2014 period.…”

Section: Boundary Currentsmentioning

confidence: 99%

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OceanGliders: A Component of the Integrated GOOS

et al. 2019

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The OceanGliders program started in 2016 to support active coordination and enhancement of global glider activity. OceanGliders contributes to the international efforts of the Global Ocean Observation System (GOOS) for Climate, Ocean Health, and Operational Services. It brings together marine scientists and engineers operating gliders around the world: (1) to observe the long-term physical, biogeochemical, and biological ocean processes and phenomena that are relevant for societal applications; and, (2) to contribute to the GOOS through real-time and delayed mode data dissemination. The OceanGliders program is distributed across national and regional observing systems and significantly contributes to integrated, multi-scale and multi-platform sampling strategies. OceanGliders shares best practices, requirements, and scientific knowledge needed for glider operations, data collection and analysis. It also monitors global glider activity and supports the dissemination of glider data through regional and global databases, in realtime and delayed modes, facilitating data access to the wider community. OceanGliders currently supports national, regional and global initiatives to maintain and expand the capabilities and application of gliders to meet key global challenges such as improved measurement of ocean boundary currents, water transformation and storm forecast.

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Section: Progress Over the Last Decadementioning

confidence: 99%

Section: Boundary Currentsmentioning

confidence: 99%

OceanGliders: A Component of the Integrated GOOS

et al. 2019

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“…3). This program was completed in September 2014, and mid-frequency navigation and communication were demonstrated to 400 km ranges by geolocating an array of gliders and floats in the MIZ (Webster et al, 2015).…”

Section: Underwater Acoustic Navigation and Communicationmentioning

confidence: 99%

Multipurpose Acoustic Networks in the Integrated Arctic Ocean Observing System

Mikhalevsky¹,

Sagen²,

Worcester³

et al. 2015

ARCTIC

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ABSTRACT. The dramatic reduction of sea ice in the Arctic Ocean will increase human activities in the coming years. This activity will be driven by increased demand for energy and the marine resources of an Arctic Ocean accessible to ships. Oil and gas exploration, fisheries, mineral extraction, marine transportation, research and development, tourism, and search and rescue will increase the pressure on the vulnerable Arctic environment. Technologies that allow synoptic in situ observations year-round are needed to monitor and forecast changes in the Arctic atmosphere-ice-ocean system at daily, seasonal, annual, and decadal scales. These data can inform and enable both sustainable development and enforcement of international Arctic agreements and treaties, while protecting this critical environment. In this paper, we discuss multipurpose acoustic networks, including subsea cable components, in the Arctic. These networks provide communication, power, underwater and under-ice navigation, passive monitoring of ambient sound (ice, seismic, biologic, and anthropogenic), and acoustic remote sensing (tomography and thermometry), supporting and complementing data collection from platforms, moorings, and vehicles. We support the development and implementation of regional to basin-wide acoustic networks as an integral component of a multidisciplinary in situ Arctic Ocean observatory.

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“…Previous work has described a similar method to the one described here that estimates range-based averaged currents (RACs) for use with underwater gliders. 28 That approach estimates a new current estimate after a series of OWTT range measurements. Conversely, the bias estimator in this work conducts a new estimate sequentially after each OWTT measurement from any beacon.…”

Section: Velocity Bias Estimatormentioning

confidence: 99%

“…27 Rarer are results that incorporate odometry from non-DVL sources such as the recent work with underwater glider tracking over short distances 21 and long distances under ice. 28 Completely absent are presentations of experimental validations of closed-loop solutions.…”

Section: Introductionmentioning

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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Towards real-time under-ice acoustic navigation at mesoscale ranges

Cited by 29 publications

References 17 publications

OceanGliders: A Component of the Integrated GOOS

OceanGliders: A Component of the Integrated GOOS

Multipurpose Acoustic Networks in the Integrated Arctic Ocean Observing System

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

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