Exploring the sensor requirements for particle filter-based terrain-aided navigation in AUVs

Osterman, Nilas; Rhen, Christin

doi:10.1109/auv50043.2020.9267886

Cited by 2 publications

(1 citation statement)

References 25 publications

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“…Multiple single-beam SONARs can seemingly perform similar to multi-beam SONARs with regards to navigation. For example, in the case of TAN, Ostermann and Rhen [11] compared the feasibility of using multiple single-beam SONARs instead of FLSs or just one single-beam SONAR. With the help of particle filters, either sensor setup worked well to correct dead-reckoning data but the highlight of their work was that it proved the effectiveness of multiple single-beam SONARs to provide data correction capabilities similar to multi-beam SONARs.…”

Section: B Single-beam Sonars As Ideal Low-cost Equipmentmentioning

confidence: 99%

Low-cost Underwater Localisation Using Single-Beam Echosounders and Inertial Measurement Units

Azam,

Jie Kong,

et al. 2023

OCEANS 2023 - Limerick

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Underwater robot localisation is challenging as it cannot rely on sensors such as the GPS due to electromagnetic wave attenuation or optical cameras due to water turbidity. SONARs are immune to these issues, hence they are used as alternatives for underwater navigation despite lower spatial and temporal resolution. Single-beam SONARs are sensors whose main output is distance. When combined with a filtering algorithm like the Kalman filter, these distance readings can correct localisation data obtained by inertial measurement units. Compared to multi-beam imaging SONARs, the single-beam SONARs are inexpensive to integrate into underwater robots. Therefore, this study aims to develop a low-cost localisation solution utilizing single-beam SONARs and pressure-based depth sensors to correct dead-reckoning linear localisation data using Kalman filters. From experiments, a single-beam SONAR per degree of freedom was able to correct localisation data, without the need of complicated data fusion methods.

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Section: B Single-beam Sonars As Ideal Low-cost Equipmentmentioning

confidence: 99%