Advances in Platforms and Algorithms for High Resolution Mapping in the Marine Environment

Sayre-McCord, R. Thomas; Murphy, Chris; Kaeli, Jeffrey W.; Kunz, C.; Kimball, Peter; Singh, Hanumant

doi:10.1007/978-3-319-55372-6_5

Cited by 1 publication

(1 citation statement)

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“…Kimball et al report a hybrid under-ice navigation system employing DVL dead-reckoning over long ranges from a "dock", inverted USBL within 700 m of the dock, and optical stereo imaging within 75 m of the dock [16]. Sayre-McCord et al report an approach in which, in post processing, utilizes upward-looking optical imagery in a Simultaneous Localization and Mapping (SLAM) framework to correct vehicle navigation for ice-floe mapping [17].…”

Section: Background and Literature Review: Under-ice Navigationmentioning

confidence: 99%

Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice

Barker

Whitcomb

2021

JMSE

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This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error and uncertainty are examined. Results suggest that increasing the number and/or separation of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship-based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also correlated with reduced estimate uncertainty. Our analysis suggests that the proposed method is feasible and can offer scientifically useful navigation accuracy over a range of operating conditions.

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Section: Background and Literature Review: Under-ice Navigationmentioning

confidence: 99%