Persistent ocean monitoring with underwater gliders: Adapting sampling resolution

Smith, Ryan N.; Schwager, Mac; Smith, Stephen L.; Jones, Burton H.; Rus, Daniela; Sukhatme, Gaurav S.

doi:10.1002/rob.20405

Cited by 182 publications

(117 citation statements)

References 46 publications

(76 reference statements)

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“…Additional turbulent components that resemble the energy spectrum of real-world turbulence were superposed on top of the mean flow. The lawn-mowing vehicle trajectory, a common trajectory widely adopted in ocean sampling tasks [57], was used in both cases. State estimation for vehicles following such a trajectory is quite challenging since there exist multiple large-angle turns, which may lead to large attitude estimation error and further affect the overall navigation performance.…”

Section: Performance Evaluation In Turbulent Flowsmentioning

confidence: 99%

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Song

Mohseni

2018

IEEE J. Oceanic Eng.

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A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in longduration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this concept through mid-depth, underwater navigation. This strategy mitigates dead-reckoning uncertainty of a traditional inertial navigation system by comparing the estimate of local, ambient flow velocity with preloaded ocean current maps. The proposed navigation system is implemented through a marginalized particle filter where the vehicle's states are sequentially tracked along with sensor bias and local turbulence that is not resolved by general flow prediction. The performance of the proposed approach is first analyzed through Monte Carlo simulations in two artificial background flow fields, resembling real-world ocean circulation patterns, superposed with smaller-scale, turbulent components with Kolmogorov energy spectrum. The current-aided navigation scheme significantly improves the dead-reckoning performance of the vehicle even when unresolved, small-scale flow perturbations are present. For a 6-hour navigation with an automotive-grade inertial navigation system, the currentaided navigation scheme results in positioning estimates with under 3% uncertainty per distance traveled (UDT) in a turbulent, double-gyre flow field, and under 7.3% UDT in a turbulent, meandering jet flow field. Further evaluation with field test data and actual ocean simulation analysis demonstrates consistent performance for a 6-hour mission, positioning result with under 25% UDT for a 24-hour navigation when provided direct heading measurements, and terminal positioning estimate with 16% UDT at the cost of increased uncertainty at an early stage of the navigation.

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Section: Performance Evaluation In Turbulent Flowsmentioning

confidence: 99%

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Song

Mohseni

2018

IEEE J. Oceanic Eng.

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“…Since a glider depends solely upon dead reckoning for subsurface navigation, the uncertainty in the estimated state will grow without bound. For our applications in the coastal regions of Southern California, we generally require the vehicle to surface frequently (every 3-6 h), see, e.g., Smith et al (2010aSmith et al ( ,b, 2011a). Since we acquire GPS ground truth relatively frequently, we are able to bound the growth of the state estimation error.…”

Section: Dead-reckoning Error Estimationmentioning

confidence: 99%

Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain-Based Navigation

2016

Self Cite

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Effective study of ocean processes requires sampling over the duration of long (weeks to months) oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles that have a similarly, long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error: a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by (1) demonstrating the utility of our terrain-based navigation method with multiple field trials and (2) presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders and demonstrate an ability to estimate geographical location of an underwater glider to <100 m over paths of length >2 km. Utilizing the combined algorithm, we are able to prescribe an uncertainty bound for navigation and instruct the glider to surface if that bound is exceeded during a given mission.

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“…Other methods to coordinate gliders and AUVs to maximize information in the data collected, taking explicit account of challenging ocean currents have been studied, e.g., by Lynch et al [113], Baumgartner et al [114], Munafò et al [115], Liang et al [116], and Davis et al [117]. Strategies for coordinated sampling that optimize information-based metrics have also been further explored, e.g., [118,119,120,121,122,123,124].…”

Section: Recent Developments and Future Directionsmentioning

confidence: 99%

Cooperative Vehicle Environmental Monitoring

Leonard

2016

Springer Handbook of Ocean Engineering

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Over the last decade, methodologies for automated cooperative control of robotic vehicles have been designed, deployed and proven to provide efficient, reliable, and sustained monitoring of the uncertain and inhospitable ocean environment. Unprecedented data sets have been collected from deployments of cooperative vehicles in the field, and both real-time and post-deployment analyses have led to new understanding of the environment. This first decade of success in cooperative vehicle environmental monitoring sets the stage for new opportunities and future gain, especially as the development of cooperative control methodologies can continue to leverage ongoing technological and scientific advances in underwater communication and sensing, energy and computational efficiency, vehicle size, speed, maneuverability and cost, and ocean modeling and prediction.Indeed, the demonstrated potential of cooperative vehicle control has led to increased demand for fleets of autonomous underwater vehicles (AUVs) for use in measuring ocean physics, biology, chemistry and geology to improve understanding of natural dynamics and human-influenced changes in the marine environment. Further, methodologies for cooperative control of robotic vehicles in the ocean are readily adaptable to applications on land, in the air and in space; likewise, there is much to be learned from developments in these other domains. The recent explosion in research on networks and complex systems, including investigation of mechanisms that explain a "collective intelligence" exhibited by animal aggregations on the move, are also being leveraged to advance design of cooperative vehicle dynamics.For environmental monitoring to be successful, physical, chemical, and biological variables must be measured across a range of spatial and temporal scales; in the ocean the monitoring strategy must also contend with a harsh, three-dimensional physical space that is highly uncertain and dynamic. Small spatial and temporal scales associated with the measured variables typically make a stationary sensor array impractical because a very large number of sensors would be needed to get sufficient resolution in space and/or time. An array of mobile sensors, however, may be very well suited to such a challenge since mobility can be exploited to dynamically distribute fewer sensors according to the spatial and temporal scales.The underlying principle of cooperative control of vehicles for environmental monitoring leverages mobility of sensors and uses an interacting dynamic among the individual sensors to yield a collective behavior that performs better than the sum of the parts. If the vehicles can communicate their state or measure the relative state of others in the team, then they can cooperate and the cooperative vehicle dynamics can provide coordinated motion of the team as a whole. The resulting vehicle network functions as a dynamically reconfigurable sensor array with a capability for high performance in environmental monitoring not available at the level of individual...

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Persistent ocean monitoring with underwater gliders: Adapting sampling resolution

Cited by 182 publications

References 46 publications

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features

Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain-Based Navigation

Cooperative Vehicle Environmental Monitoring

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