Underwater Terrain Navigation During Realistic Scenarios

Lager, Mårten; Topp, Elin Anna; Malec, Jacek

doi:10.1007/978-3-319-90509-9_11

Cited by 3 publications

(4 citation statements)

References 15 publications

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“…A very expensive Inertial Navigation Sensor (INS) system can be used, which often has a drift of less than 1852m (1 Nautical Mile, NM) after 24h. In our previous work, we evaluated a PF using an INS like that, using simulated data [5]. A speed log that measures the Speed Over Ground (SOG) instead of Speed Through Water (STW) can also be used, as well as a Multibeam Sonar (MBE), which makes it possible to create an accurate 3D terrain of the bottom.…”

Section: Fusion By Evaluating the Particles By Using Various Datamentioning

confidence: 99%

“…Depth A%, M agn B%, Comb C%, DR D%, KF E% (5) This should be interpreted as A% of the particles are re-sampled using weights from the Correction Step created by comparing Depth with the sea chart, B% from M agnetic Intensity, C% Depth ∩ M agnetic Intensity, D% Dead Reckoned (DR), and E% from KF.…”

Section: Test Runs For Evaluating and Optimizing The Positioning Amentioning

confidence: 99%

“…Saab Kockums provided the ship used for data gathering. In previous work, we presented Terrain-Aided Navigation (TAN) and evaluated the performance of a Particle Filter (PF)based approach using simulated data only [5]. It used a highperformance INS and compared standard map data with fused data from depth, magnetic field intensity, intersection of those, and the dead reckoned position.…”

Section: Introductionmentioning

confidence: 99%

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Robust Terrain-Aided Navigation through Sensor Fusion

Lager

Topp

Malec

2020

2020 IEEE 23rd International Conference on Information Fusion (FUSION)

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To make autonomous, affordable ships feasible in the real world, they must be capable of safely navigating without fully relying on GPS, high-resolution 3D maps, or high-performance navigation sensors. We suggest a method for estimating the position using affordable navigation sensors (compass and speed log or inertial navigation sensor), sensors used for perception of the environment (cameras, echo sounder, magnetometer), and publicly available maps (sea charts and magnetic intensity anomalies maps). A real-world field trial has shown that the proposed fusion mechanism provides accurate and robust navigation, applicable for affordable autonomous ships.

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Section: Fusion By Evaluating the Particles By Using Various Datamentioning

confidence: 99%

Section: Test Runs For Evaluating and Optimizing The Positioning Amentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Terrain-Aided Navigation through Sensor Fusion

Lager

Topp

Malec

2020

2020 IEEE 23rd International Conference on Information Fusion (FUSION)

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“…Later, a suitable compact support for the uniform distributions was derived, using the Fisher information matrix of the terrain . In a similar approach, in a PF is also used, with subsets of the particles being weighted with different weighting functions.…”

Section: Background and Related Workmentioning

confidence: 99%

A data‐driven particle filter for terrain based navigation of sensor‐limited autonomous underwater vehicles

Melo

Matos

2019

Asian Journal of Control

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In this article a new Data-Driven formulation of the Particle Filter framework is proposed. The new formulation is able to learn an approximate proposal distribution from previous data. By doing so, the need to explicitly model all the disturbances that might affect the system is relaxed. Such characteristics are particularly suited for Terrain Based Navigation for sensor-limited AUVs, where typical scenarios often include non-negligible sources of noise affecting the system, which are unknown and hard to model. Numerical results are presented that demonstrate the superior accuracy, robustness and efficiency of the proposed Data-Driven approach.

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WARA-PS: a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

Andersson

Doherty

Lager

et al. 2021

Auton. Intell. Syst.

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A research arena (WARA-PS) for sensing, data fusion, user interaction, planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is presented. The objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal challenges. The enabler is a computational infrastructure with a core system architecture for industrial and academic collaboration. This includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial vehicles. The motivating application for the demonstration is marine search and rescue operations. A state-of-art delegation framework for the mission planning together with three specific applications is also presented. The first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface vehicles. The second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles, and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine environments. The research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test facility. It would be most difficult to do experiments on this large scale without the WARA-PS research arena. Furthermore, these demonstrator activities have resulted in effective research dissemination with high public visibility, business impact and new research collaborations between academia and industry.

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Underwater Terrain Navigation During Realistic Scenarios

Cited by 3 publications

References 15 publications

Robust Terrain-Aided Navigation through Sensor Fusion

Robust Terrain-Aided Navigation through Sensor Fusion

A data‐driven particle filter for terrain based navigation of sensor‐limited autonomous underwater vehicles

WARA-PS: a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

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