Single beacon navigation: Localization and control of the MARES AUV

Ferreira, Bruno M.; Matos, Aníbal; Cruz, Nuno

doi:10.1109/oceans.2010.5664518

Cited by 40 publications

(25 citation statements)

References 12 publications

(36 reference statements)

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“…The main shortcoming of this approach is that its performance depends on the vehicle's trajectory [2], since long paths away from or towards the beacon result in unbounded position error growth. However, certain studies relating the trajectory of the vehicle to the observability of the system [4] and derive conditions of observability for the system in single range navigation [5]. One way to overcome this problem is having a transponder attached to a vehicle with the ability of determining its position with minimal uncertainty so that other vehicles can use it as a beacon for localization purposes.…”

Section: Acoustic Localizationmentioning

confidence: 99%

See 1 more Smart Citation

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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Section: Acoustic Localizationmentioning

confidence: 99%

“…Since the EKF is computationally efficient [13], it is commonly used for state estimation in robotics, and UUV localization is no exception. The EKF is widely used with many localization techniques [2], as well as in many single beacon localization implementations [14], [4] and in CN [10].…”

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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“…Such system is complex and the task of deriving control laws that ensure stability is not trivial, having led to order reduction in several works (see Ferreira, Matos, Cruz & IEEE (2010);Fossen (1994); Teixeira et al (2010), for example). By taking advantage of the body shape symmetries and of the configuration of the actuators on the body, it is usual to decouple the complex motion in more elementary ones.…”

Section: Fig 2 Body Frame and Inertial Frame Referentialsmentioning

confidence: 99%

Fault Tolerant Depth Control of the MARES AUV

Ferreira¹,

Matos²,

Cruz³

2011

Challenges and Paradigms in Applied Robust Control

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“…That approach is common in literature concerning marine applications, e.g. Ferreira et al (2010). In MorenoSalinas et al (2013) optimal trajectory to unknown underwater target is found by maximizing Fisher Information Matrix determinant.…”

Section: Introductionmentioning

confidence: 99%

Tracking underwater target using extremum seeking★

Mandić

Mišković

2015

IFAC-PapersOnLine

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In this paper problem of source-seeking and tracking underwater target by surface vehicle using range measurements with low sampling rate is addressed. Paper compares three extremum seeking schemes: classical extremum seeking, EKF based gradient estimation extremum seeking and EKF based gradient estimation extremum seeking enhanced with static function model data. It is shown that using additional model information can improve gradient estimation when dealing with intermittent range measurements.

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Single beacon navigation: Localization and control of the MARES AUV

Cited by 40 publications

References 12 publications

Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid

Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid

Fault Tolerant Depth Control of the MARES AUV

Tracking underwater target using extremum seeking★

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