Range-Only Positioning of a Deep-Diving Autonomous Underwater Vehicle From a Surface Ship

McPhail, S.D.; Pebody, Miles

doi:10.1109/joe.2009.2030223

Cited by 49 publications

(23 citation statements)

References 9 publications

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“…However, all these works are mathematical developments and only show some simulations. On the other hand, in other works such as [4] and [6] the authors present some field test results to localize an underwater target using rangeonly methods, but in their case, they do not present a general study to find the best parameters for target localization.…”

Section: Introductionmentioning

confidence: 99%

Range-only underwater target localization: Path characterization

Masmitja

Gomáriz

Río

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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Abstract-. Underwater localization using acoustic signals is one of the main components in a navigation system for an AUV as a more accurate alternative to dead-reckoning techniques. While different methods based on the idea of multiple beacons have been studied, other approaches use only one beacon, which reduces the system costs and deployment complexity. The inverse approach for single-beacon navigation is to use this method for target localization by an underwater or surface vehicle. In this paper we present a method of range-only target localization using a Wave Glider ™, for which simulations and sea tests have been conducted to determine optimal parameters to minimize acoustic energy use and search time and to maximize location accuracy and precision.

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Section: Introductionmentioning

confidence: 99%

Range-only underwater target localization: Path characterization

Masmitja

Gomáriz

Río

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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show abstract

“…Several other works in acoustic cooperative underwater navigation have emerged for fusing OWTT-based relative ranges between teams of vehicles [1,2,8,10,16,17,25]. These methods, however, generally trade off between offline and consistent, or real-time and inconsistent.…”

Section: Related Workmentioning

confidence: 99%

An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment

Walls¹,

Eustice²

2013

Robotics: Science and Systems IX

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Abstract-This paper reports on an exact real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a 'server' vehicle to aid the navigation of multiple 'client' vehicles via a novel representation of the server's pose-graph that is robust to communication packet loss. This transmitted pose-graph can be used in conjunction with a decentralized extended information filter on the client to reproduce the corresponding two-vehicle server-client centralized result exactly. We present a full comparative evaluation for the first-ever real-time field implementation of the proposed algorithm for a multi-agent autonomous underwater vehicle network using underwater acoustic modems to communicate in a synchronous-clock transmission framework.

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“…Navigation with a single, fixed beacon whose position is known a priori has been reported using several different estimation techniques-a least squares approach in [21] and [1], and a vehicle-based extended Kalman filter (EKF) in [16] and [10]. Navigation with respect to a moving beacon whose position is not known a priori is reported in [17] using a nonlinear least mean square method; in [6] using a maximum likelihood method; and in [27] using a centralized EKF. However, each of these methods, as reported, is only structurally tractable for post-processing, though the authors of [17] suggest improvements that would allow for real-time implementations.…”

Section: Single-beacon Navigationmentioning

confidence: 99%

“…Navigation with respect to a moving beacon whose position is not known a priori is reported in [17] using a nonlinear least mean square method; in [6] using a maximum likelihood method; and in [27] using a centralized EKF. However, each of these methods, as reported, is only structurally tractable for post-processing, though the authors of [17] suggest improvements that would allow for real-time implementations.…”

Section: Single-beacon Navigationmentioning

confidence: 99%

Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and simulation

Webster

Whitcomb

Eustice

2010

2010 IEEE/OES Autonomous Underwater Vehicles

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Abstract-This paper reports the theory and implementation of a decentralized navigation system that enables simultaneous single-beacon navigation of multiple underwater vehicles. In single-beacon navigation, each vehicle uses ranges from a single, moving reference beacon in addition to its own inertial navigation sensors to perform absolute localization and navigation. In this implementation the vehicles perform simultaneous communication and navigation using underwater acoustic modems, encoding and decoding data within the acoustic broadcast. Vehicles calculate range from the time of flight of asynchronous acoustic broadcasts from the reference beacon. Synchronous clocks on the reference beacon and the vehicles enable the measurement of one-way travel-times, whereby the time of launch of the acoustic signal at the reference beacon is encoded in the acoustic broadcast and the time of arrival of the broadcast is measured by each vehicle. The decentralized navigation algorithm, running independently on each vehicle, is implemented using the information form of the extended Kalman filter and has been previously shown to yield results that are identical to a centralized Kalman filter at the instant of each range measurement. We summarize herein the architecture and design of the acoustic communications (Acomms) system consisting of an underwater acoustic modem, synchronous clock, and the software necessary to run them, and salient results from the validation of the decentralized information filter using a simulated data set.

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Range-Only Positioning of a Deep-Diving Autonomous Underwater Vehicle From a Surface Ship

Cited by 49 publications

References 9 publications

Range-only underwater target localization: Path characterization

Range-only underwater target localization: Path characterization

An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment

Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and simulation

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