Underwater Robot Localization Using Magnetic Induction: Noise Modeling and Hardware Validation

García, Javier; Soto, Steban; Sultana, Arifa; Leclerc, Julien; Pan, Miao; Becker, Aaron T.

doi:10.1109/ieeeconf38699.2020.9389237

Cited by 6 publications

(2 citation statements)

References 10 publications

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“…Magnetic field localization can also be used underwater and on the ground. There have been many studies that use magnetic fields for localization [9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

Lee,

Sung

2024

Aerospace

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This study proposes an enhanced integration algorithm that combines the magnetic field-based positioning system (MPS—Magnetic Pose Estimation System) with an inertial system with the advantage of an invariant filter structure. Specifically, to mitigate the nonlinearity of the propagation model and perturbing effect from the estimated uncertainty, the formulation of the invariant Kalman filter was derived in detail. Then, experiments were conducted to validate the algorithm with an unmanned vehicle equipped with an IMU and MPS receiver. As a result, the navigation performance of the IEKF-based inertial and magnetic field integration system was presented and compared with the conventional Kalman filter results. Furthermore, the convergence and navigation performance were evaluated in the presence of state variable initialization errors. The findings indicate that the inertial and magnetic field coupled with the IEKF outperforms the typical KF approach, particularly when dealing with initial estimate uncertainties.

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“…Magnetic field localization can also be used underwater and on the ground. There have been many studies that use magnetic fields for localization [9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

Lee,

Sung

2024

Aerospace

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“…In an underwater environment, any problem encountered by the robot may lead to damage or loss of control. Through positioning, the position and state of the robot can be determined in real time, thereby increasing the safety of the operation and avoiding damage or accidents [5].…”

Section: Introductionmentioning

confidence: 99%

Fisher-Information-Matrix-Based USBL Cooperative Location in USV–AUV Networks

Wang,

Xu,

Feng

et al. 2023

Sensors

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With the development of underwater technology and the increasing demand for ocean development, more and more intelligent equipment is being applied to underwater scientific missions. Specifically, autonomous underwater vehicle (AUV) clusters are being used for their flexibility and the advantages of carrying communication and detection units, often performing underwater tasks in formation. In order to locate AUVs with high precision, we introduce an unmanned surface vehicle (USV) with global positioning system (GPS) and propose a USV–AUV network. Furthermore, we propose an ultra-short baseline (USBL) acoustic cooperative location scheme with an orthogonal array, which is based on underwater communication with sonar. Based on the derivation of the Fisher information matrix formula under Cartesian parameters, we analyze the positioning accuracy of AUVs in different positions under the USBL positioning mode to derive the optimal array of the AUV formation. In addition, we propose a USV path planning scheme based on Dubins path planning functions to assist in locating the AUV formation. The simulation results verify that the proposed scheme can ensure the positioning accuracy of the AUV formation and help underwater research missions.

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Comparative Performance Analysis of AC Magnetic Positioning Algorithms With Realtime Implementation Environment

Lee,

Sung

2024

Int. J. Control Autom. Syst.

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Underwater Robot Localization Using Magnetic Induction: Noise Modeling and Hardware Validation

Cited by 6 publications

References 10 publications

Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

Fisher-Information-Matrix-Based USBL Cooperative Location in USV–AUV Networks

Comparative Performance Analysis of AC Magnetic Positioning Algorithms With Realtime Implementation Environment

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