A Validation Process for Underwater Localization Algorithms

Hildebrandt, Marc; Gaudig, Christopher; Christensen, Leif; Natarajan, Sankaranarayanan; Hidalgo, Carrio, Javier; Paranhos, Patrick Merz; Kirchner, Frank

doi:10.5772/58581

Cited by 9 publications

(4 citation statements)

References 13 publications

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“…Considering approaches focused on the development of control architectures for HROVs [20], it is worth mentioning projects HROV-Arch [41] and MERBOTS [42]. HROV-Arch targets a hybrid ROV system tailored for oceanographic research, particularly emphasizing operations under ice.…”

Section: From a Rov To A Hrovmentioning

confidence: 99%

A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles

Gómez-Bravo,

Garrocho-Cruz,

Marín-Cañas

et al. 2023

Machines

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This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilities while enabling two fully autonomous applications. The approach emphasizes the implementation of reactive navigation by exclusively utilizing data from a Mechanical Scanned Imaging Sonar for control decisions. This mandates the control system to solely react to data derived from the vehicle’s environment, without considering other positioning information or state estimation. The study involves transforming a small-scale commercial Remotely Operated Underwater Vehicle into a hybrid system without structural modifications, and details the development of an intermediate Operational Control Layer responsible for sensor data processing and task execution control. Two practical applications, inspired by tasks common in natural or open-water aquaculture farms, are explored: one for conducting transects, facilitating monitoring and maintenance operations, and another for navigating toward an object for inspection purposes. Experimental results validate the feasibility and effectiveness of the authors’ hypotheses. This approach expands the potential applications of underwater vehicles and facilitates the development of Hybrid Remotely Operated Underwater Vehicles, enabling the execution of autonomous reactive tasks.

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Section: From a Rov To A Hrovmentioning

confidence: 99%

A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles

Gómez-Bravo,

Garrocho-Cruz,

Marín-Cañas

et al. 2023

Machines

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“…In order to validate the measurements made by this visual approach to mapping and localization, the complete additional navigation instrumentation available (Long-Baseline-Localization (LBL), Doppler Velocity Log (DVL), Fiber-Optic Gyroscope (FOG)) allows a second independent measurement to be recorded. This second measurement can then be used as a ground-truth for judging the quality of the visually generated data [49]. Dagon is a hovering AUV; it does not rely on forward movement to keep its current depth.…”

Section: Temporal Coveragementioning

confidence: 99%

Cutting the Umbilical: New Technological Perspectives in Benthic Deep-Sea Research

Brandt

Gutt

Hildebrandt

et al. 2016

JMSE

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Many countries are very active in marine research and operate their own research fleets. In this decade, a number of research vessels have been renewed and equipped with the most modern navigation systems and tools. However, much of the research gear used for biological sampling, especially in the deep-sea, is outdated and dependent on wired operations. The deployment of gear can be very time consuming and, thus, expensive. The present paper reviews wire-dependent, as well as autonomous research gear for biological sampling at the deep seafloor. We describe the requirements that new gear could fulfil, including the improvement of spatial and temporal sampling resolution, increased autonomy, more efficient sample conservation methodologies for morphological and molecular studies and the potential for extensive in situ real-time studies. We present applicable technologies from robotics research, which could be used to develop novel autonomous marine research gear, which may be deployed independently and/or simultaneously with traditional wired equipment. A variety of technological advancements make such ventures feasible and timely. In proportion to the running costs of modern research vessels, the development of such autonomous devices might be already paid off after a discrete number of pioneer expeditions.

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“…Numerous studies in the field of underwater robots have recently focused on SLAM [ 16 , 17 , 18 ], which might be the most potential approach to achieve completely autonomous underwater robot positioning and navigation. Combining different sensory data derived from disparate underwater sensing modalities is a robust way to accomplish different underwater application scenarios (for an overview see [ 19 ]), but due to the inhomogeneity of the water column, localization remains a major challenge for sub-sea operations [ 20 ]. Especially close range navigation tasks like sub-sea asset inspection and maintenance or docking maneuvers require sophisticated setups [ 21 ], tactical grade sensors [ 22 ] or even pre-installed infrastructure like long baseline (LBL) acoustic transponders.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Bian

Hevesi

Christensen

et al. 2021

Sensors

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Autonomous underwater vehicles (AUV) are seen as an emerging technology for maritime exploration but are still restricted by the availability of short range, accurate positioning methods necessary, e.g., when docking remote assets. Typical techniques used for high-accuracy positioning in indoor use case scenarios, such as systems using ultra-wide band radio signals (UWB), cannot be applied for underwater positioning because of the quick absorption of the positioning medium caused by the water. Acoustic and optic solutions for underwater positioning also face known problems, such as the multi-path effects, high propagation delay (acoustics), and environmental dependency. This paper presents an oscillating magnetic field-based indoor and underwater positioning system. Unlike those radio wave-based positioning modalities, the magnetic approach generates a bubble-formed magnetic field that will not be deformed by the environmental variation because of the very similar permeability of water and air. The proposed system achieves an underwater positioning mean accuracy of 13.3 cm in 2D and 19.0 cm in 3D with the multi-lateration positioning method and concludes the potential of the magnetic field-based positioning technique for underwater applications. A similar accuracy was also achieved for various indoor environments that were used to test the influence of cluttered environment and of cross environment. The low cost and power consumption system is scalable for extensive coverage area and could plug-and-play without pre-calibration.

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A Validation Process for Underwater Localization Algorithms

Cited by 9 publications

References 13 publications

A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles

A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles

Cutting the Umbilical: New Technological Perspectives in Benthic Deep-Sea Research

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

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