One-way travel-time inverted ultra-short baseline localization for low-cost autonomous underwater vehicles

Rypkema, Nicholas R.; Fischell, Erin M.; Schmidt, Henrik

doi:10.1109/icra.2017.7989570

Cited by 65 publications

(41 citation statements)

References 11 publications

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“…In addition, the other end of the iUSBL system is installed on an underwater base station. iUSBL can output positioning data directly to the vehicle, while USBL should transfer data from the surface vessel to underwater vehicle through water, which is time-consuming [21].…”

Section: Positioning and Navigation Systemmentioning

confidence: 99%

Development of an Autonomous Underwater Helicopter with High Maneuverability

et al. 2019

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Autonomous Underwater Vehicles (AUVs) are the mainstream equipment for underwater scientific research and engineering. However, it remains a great challenge for AUVs to carry out near-seabed operations because of their poor maneuverability. In this paper, a new design for a high-maneuverability disc-shaped AUV is proposed, namely, the Autonomous Underwater Helicopter (AUH). We designed the AUH’s propulsion system through dynamic analysis based on the unique disc shape. The experimental prototype was built by mechatronics technology, after which several motion experiments were carried out to demonstrate the high maneuverability. We find that the prototype has high maneuverability: it can cruise at 0.8 m/s (about 1.5 knots), at least; its turning radius is zero and its turning speed is at least 20 deg/s; and the motion of specific curves in a small range was completed. It is demonstrated that over-actuation is not necessary for the high-maneuverability AUH because of its unique disc shape. A propulsion system consisting of four propellers and a buoyancy adjustment system is used for the highly maneuverable AUH. In addition, the AUH may be a solution for near-seafloor operations.

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Section: Positioning and Navigation Systemmentioning

confidence: 99%

Development of an Autonomous Underwater Helicopter with High Maneuverability

et al. 2019

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“…beacon emitted signal is received, then the range-difference measurementsỹ k are available. From the a priori state estimation s − i and the estimated state at previous time point t k−j , we model the range-difference measurements by Equations (29)- (31). By weighting the deviation between the model-calculated range differences h(ŝ − i ) and the true range-difference measurementsỹ k , we can correct the a priori state estimateŝ − i to acquire an a posteriori state estimateŝ + i usinĝ…”

Section: Recursive Estimation Of the System Statementioning

confidence: 99%

“…Geophysical techniques use external environmental information as a reference, which can be observed by sonar [25][26][27], optical [28] or magnetic [29] sensors fitted to AUVs. Acoustic techniques are focused on different types of acoustic features, such as the travel time [30,31] and time difference of arrival [32,33], resulting from hydrophone signals. Common measuring techniques include the ultrashort baseline (USBL), short baseline (SBL), long baseline (LBL), single-beacon and acoustic modem techniques [8].…”

Section: Introductionmentioning

confidence: 99%

Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences

Sun

Jin

et al. 2020

Sensors

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An accurate motion model and reliable measurements are required for autonomous underwater vehicle localization and navigation in underwater environments. However, without a propeller, underwater gliders have limited maneuverability and carrying capacity, which brings difficulties for modeling and measuring. In this paper, an extended Kalman filter (EKF)-based method, combining a modified kinematic model of underwater gliders with the travel-time differences between signals received from a single beacon, is proposed for estimating the glider positions in a predict-update cycle. First, to accurately establish a motion model for underwater gliders moving in the ocean, we introduce two modification parameters, the attack and drift angles, into a kinematic model of underwater gliders, along with depth-averaged current velocities. The attack and drift angles are calculated based on the coefficients of hydrodynamic forces and the sensor-measured angle variation over time. Then, instead of satisfying synchronization requirements, the travel-time differences between signals received from a single beacon, multiplied by the sound speed, are taken as the measurements. To further reduce the EKF estimation error, the Rauch-Tung-Striebel (RTS) smoothing method is merged into the EKF system. The proposed method is tested in a virtual spatiotemporal environment from an ocean model. The experimental results show that the performance of the RTS-EKF estimate is improved when compared with the motion model estimate, especially by 46% at the inflection point, at least in the particular study developed in this article.

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“…The particle filter has been used successfully in different approaches to UUV acoustic localization [15] [16], including single beacon techniques [17].…”

Section: Filtersmentioning

confidence: 99%

Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid

Sousa

Ferreira

Cruz

2018

2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)

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ResumoVeículos Submarinos não Tripulados (UUVs), tais como Veículos Submarinos Autónomos (AUVs) e Veículos de Controlo Remoto (ROVs) são ferramentas versáteis, adequadas a diversas atividades para diferentes áreas, e tem vindo a registar um aumento de uso, fazendo das mesmas uma área de interesse no estudo da robótica.Em termos gerais, a performance de qualquer veículo submarino em qualquer tarefa é profundamente afetada pela precisão do seu sistema de localização. O principal desafio da localização submarina é a atenuação significativa de qualquer sinal submarino de frequência de radio (RF) que impede o uso dos métodos de localização habitualmente usados tais como Sistema de Posicionamento Global (GPS). Muitos métodos foram estudados para a localização de UUVs, incluindo o uso de faróis acústicos. Um destes métodos é o uso de um único farol móvel para obter alcances acústicos, ao contrário de um farol imóvel, que restringe a trajetória dos UUVs, ou múltiplos faróis que envolvem mais hardware, complicando a logística das missões e um aumento dos custos.Nesta dissertação é proposto um algoritmo de navegação com base na Matriz de Informação de Fisher para um veículo de superfície autónomo que tem como função ajudar na navegação de um veiculo subaquático.i ii Abstract Unmanned Underwater Vehicles (UUVs), such as Autonomous Underwater Vehicles (AUVs) and Remote Operated Vehicles (ROVs) are versatile tools, suitable for many activities in different fields, and have seen an increase in usage, making them an area of interest in the study of robotics.Generically speaking, the performance of any underwater vehicle in any given task is deeply affected by the precision of its localization system. The main challenge in underwater localization is the significant attenuation of any Radio Frequency (RF) signal underwater, which prevents the use of many common location methods such as the Global Positioning System (GPS). Many methods have been studied for the localization of UUVs, including the use of acoustic beacons. One of these methods is the use of a single moving beacon to obtain acoustic ranges, as opposed to a stationary single beacon, which restricts the UUV's trajectory or multiple beacons, which involve more hardware, complicating missions' logistics and increasing costs.In this dissertation a guidance algorithm based on the Fisher Information Matrix is proposed for an Autonomous Surface Vehicle to serve as a beacon vehicle and aid in the navigation of a UUV.iii iv Ackowledgements Em primeiro lugar gostaria de agradecer ao professor Nuno Cruz e ao professor Bruno Ferreira por todo o tempo dedicado e disponibilidade que demonstraram ao longo desta dissertação. Em último. mas não menos importante, à minha família, amigos e colegas de curso que decerto compreendem o porquê desta brevidade no agradecimento.

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One-way travel-time inverted ultra-short baseline localization for low-cost autonomous underwater vehicles

Cited by 65 publications

References 11 publications

Development of an Autonomous Underwater Helicopter with High Maneuverability

Development of an Autonomous Underwater Helicopter with High Maneuverability

Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences

Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid

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