Visual-Pressure Fusion for Underwater Robot Localization With Online Initialization

Hu, Chao; Zhu, Shiqiang; Liang, Ye; Mu, Zonghao; Song, Wei

doi:10.1109/lra.2021.3108584

Cited by 13 publications

(2 citation statements)

References 24 publications

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“…The sea current was included in the training [89], and then the final DolphinSlam was compared to the EKF [90]. One more technique, the visual-pressure fusion-based SLAM technique, called ORB-SLAM, was developed in [91]. When the vehicle is equipped only with a camera and pressure sensor, the roll and pitch angle are observable only when the robot has a nonzero component of motion in the vertical direction, that is, during the robot immersion.…”

Section: A Uwsimmentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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The underwater environment is among Earth's most challenging domains, where failures incur elevated risks and costs for both technology and human endeavors. As a consequence, forecasting the behavior of mechatronic systems through simulation has become increasingly important. Underwater Robotic Simulators (URSs) allow researchers and engineers to safely develop and assess submarine systems. The selection of an appropriate URS from the list of available tools is not trivial. Moreover, the integration of this software with the Digital Twin (DT) concept presents numerous advantages, particularly the ability to link the simulated environment with actual underwater vehicles. This connection is facilitated by performing validation and simulation tests using Software In the Loop (SIL), Model In the Loop, and Hardware In the Loop (HIL) techniques. This paper extensively reviews URSs in the context of both robots and unmanned vehicles in light of the DT paradigm. The article critically examines distinctions among existing URSs, offering valuable insights to aid researchers in selecting the most fitting tool for their specific applications. Additionally, the review explores the practical applications of the identified simulators, categorizing their usage across different fields to illuminate the preferences within the scientific community and showcase prominent case studies.

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Section: A Uwsimmentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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“…GPS determines the global position of the robot through its satellite positioning system, but underwater GPS signal transmission is susceptible to the influence of water refraction and scattering, transmission attenuation, delay and other problems, thus affecting the accuracy and efficiency of underwater positioning [6,7]. The inertial navigation positioning of an underwater vehicle uses devices such as accelerometers, gyroscopes and odometers to measure the robot's motion and calculate its position, but long-term operation is prone to the accumulation of errors [8]. In addition, underwater robots also face some unique challenges in positioning [9], such as underwater signal attenuation, multi-path effect, and environmental noise [10,11].…”

Section: Introductionmentioning

confidence: 99%

Fisher-Information-Matrix-Based USBL Cooperative Location in USV–AUV Networks

Wang,

Xu,

Feng

et al. 2023

Sensors

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With the development of underwater technology and the increasing demand for ocean development, more and more intelligent equipment is being applied to underwater scientific missions. Specifically, autonomous underwater vehicle (AUV) clusters are being used for their flexibility and the advantages of carrying communication and detection units, often performing underwater tasks in formation. In order to locate AUVs with high precision, we introduce an unmanned surface vehicle (USV) with global positioning system (GPS) and propose a USV–AUV network. Furthermore, we propose an ultra-short baseline (USBL) acoustic cooperative location scheme with an orthogonal array, which is based on underwater communication with sonar. Based on the derivation of the Fisher information matrix formula under Cartesian parameters, we analyze the positioning accuracy of AUVs in different positions under the USBL positioning mode to derive the optimal array of the AUV formation. In addition, we propose a USV path planning scheme based on Dubins path planning functions to assist in locating the AUV formation. The simulation results verify that the proposed scheme can ensure the positioning accuracy of the AUV formation and help underwater research missions.

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