Underwater vehicle speedometry using differential pressure sensors: Preliminary results

Fuentes‐Pérez, Juan Francisco; Kalev, Kaia; Tuhtan, Jeffrey A.; Kruusmaa, Maarja

doi:10.1109/auv.2016.7778664

Cited by 14 publications

(10 citation statements)

References 14 publications

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“…Equation 7agrees well with the relation found through computational fluid dynamics (CFD) analysis and laboratory experiments in [35], which provided satisfactory performance for deviations from the yaw axis of up to 45°with an accuracy of 0.009 m/s [36]. Additionally, the derivation in this paper provides an explanation, based on first principles, for the empirical coefficient α(ϕ) used in [35] and [36].…”

Section: A Velocity Modelsupporting

confidence: 67%

“…These sensors can measure a pressure difference across two points in the same plane. Thus, the static component of the pressure is mechanically filtered out, which decreases the necessary pressure range to be measured, increasing the sensitivity of the sensor [22], [35]. In our previous publication, we described a prototype to estimate the surge velocity for torpedo-shaped AUVs based on differential pressure sensors [36].…”

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confidence: 99%

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Differential Pressure Sensor Speedometer for Autonomous Underwater Vehicle Velocity Estimation

Meurer

Fuentes‐Pérez

Palomeras

et al. 2020

IEEE J. Oceanic Eng.

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Velocity estimation is central for the reliable navigation of autonomous underwater vehicles (AUVs). Doppler velocity logs (DVLs), currently the leading technology for underwater velocity estimation, can be too big, expensive, and energy consuming to be used on low-cost and small AUVs or for long missions. In our previous work, a system based on differential pressure sensors was developed for estimating surge velocity. In this paper, we combine this system with an inertial measurement unit to compensate for orientation errors and create a differential pressure sensor speedometer (DPSS). We propose and demonstrate the DPSS prototype as an important step toward a small, inexpensive, and energy-efficient alternative or complement to a DVL in certain applications. This paper presents the first underwater field tests of a sensor using differential pressure for velocity estimation. Tests were conducted with a SPARUS II AUV (IQUA Robotics, Girona, Spain). To demonstrate the efficacy of our proposed solution, we compare the surge velocity estimation of the DPSS and the vehicle's DVL in bottom and water locks. Trials were conducted by varying the trajectory and velocity of the vehicle in three different environments. We show that the DPSS displayed a superior performance with respect to the DVL water lock for velocities above 0.6 m/s. The differences in the velocity estimations of the DVL in bottom lock for high velocities were as small as 0.013 m/s. These results encourage further development of the presented technology. Index Terms-Autonomous underwater vehicle (AUV), differential pressure sensors, Doppler velocity log (DVL), dead reckoning, flow sensing. I. INTRODUCTION F OR THE successful operation and recovery of autonomous underwater vehicles (AUVs), robust navigation and localization are crucial [1], [2]. However, the availability of sophisticated sensor systems for navigation and localization is restricted by the size, energy requirements, budget, and operation conditions of the particular vehicle. Especially with the increasing Manuscript

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Section: A Velocity Modelsupporting

confidence: 67%

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confidence: 99%

Differential Pressure Sensor Speedometer for Autonomous Underwater Vehicle Velocity Estimation

Meurer

Fuentes‐Pérez

Palomeras

et al. 2020

IEEE J. Oceanic Eng.

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“…This and other conventional techniques often measure at a sampling rate that is below (1-50 Hz) the sensory range of lateral lines (10s-100s Hz) [60]. Artificial lateral lines have emerged to provide a closer representation of the hydrodynamic changes that are actually perceived by fish [61,62]. The artificial lateral line used for this research consisted of a 0.22 m length standard NACA 0025 airfoil shape, which is most similar to a cross section of a fish.…”

Section: Hydraulic Characterizationmentioning

confidence: 99%

Habitat Enhancement Solutions for Iberian Cyprinids Affected by Hydropeaking: Insights from Flume Research

2019

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Due to peak electricity demand, hydropeaking introduces rapid and artificial flow fluctuations in the receiving river, which alters the river hydromorphology, while affecting the downstream ecological integrity. The impacts of hydropeaking have been addressed in flumes and in rivers. However, few studies propose mitigation solutions based on fish responses. The objective of this communication was to assemble the methods and outputs of flume research focused on Iberian cyprinids and to present recommendations to be used by freshwater scientists and hydropower producers. Emphasis was given to the critical role of integrating ecology and hydraulics to find the causal pathway between a flow change and a measurable fish response. The use of diverse behaviour quantification methods, flow sensing technologies, and statistical tools were decisive to strengthen the validity of the findings and to identify fish-fluid relationships, according to flow events. This communication encourages further research to identify flow thresholds for key life-cycle stages and complementary river studies to design and assess mitigation solutions for hydropeaking. Although the research focused on an Iberian cyprinid, the methods suggested have the potential to be extended to other fish species affected by hydropeaking.

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“…As an alternative, differential pressure sensors have been shown to allow the extraction of the flow velocity in changing flows with high accuracy [25,26]. As in [15], the approach is limited to oncoming flow.…”

Section: Determination Of Sea Currentmentioning

confidence: 99%

Determination of Flow Parameters of a Water Flow Around an AUV Body

Hoth

Kowalczyk

2019

Robotics

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Autonomous underwater vehicles (AUVs) have changed the way marine environment is surveyed, monitored and mapped. Autonomous underwater vehicles have a wide range of applications in research, military, and commercial settings. AUVs not only perform a given task but also adapt to changes in the environment, e.g., sudden side currents, downdrafts, and other effects which are extremely unpredictable. To navigate properly and allow simultaneous localisation and mapping (SLAM) algorithms to be used, these effects need to be detected. With current navigation systems, these disturbances in the water flow are not measured directly. Only the indirect effects are observed. It is proposed to detect the disturbances directly by placing pressure sensors on the surface of the AUV and processing the pressure data obtained. Within this study, the applicability of different learning methods for determining flow parameters of a surrounding fluid from pressure on an AUV body are tested. This is based on CFD simulations using pressure data from specified points on the surface of the AUV. It is shown that support vector machines are most suitable for the given task and yield excellent results.

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Underwater vehicle speedometry using differential pressure sensors: Preliminary results

Cited by 14 publications

References 14 publications

Differential Pressure Sensor Speedometer for Autonomous Underwater Vehicle Velocity Estimation

Differential Pressure Sensor Speedometer for Autonomous Underwater Vehicle Velocity Estimation

Habitat Enhancement Solutions for Iberian Cyprinids Affected by Hydropeaking: Insights from Flume Research

Determination of Flow Parameters of a Water Flow Around an AUV Body

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