Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation...
Published in: | Journal of Marine Science and Engineering |
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Multidisciplinary Digital Publishing Institute
2021
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Online Access: | https://doi.org/10.3390/jmse9020174 |
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ftmdpi:oai:mdpi.com:/2077-1312/9/2/174/ 2023-08-20T04:09:43+02:00 Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice Laughlin D. L. Barker Louis L. Whitcomb agris 2021-02-09 application/pdf https://doi.org/10.3390/jmse9020174 EN eng Multidisciplinary Digital Publishing Institute Ocean Engineering https://dx.doi.org/10.3390/jmse9020174 https://creativecommons.org/licenses/by/4.0/ Journal of Marine Science and Engineering; Volume 9; Issue 2; Pages: 174 autonomous underwater vehicle (AUV) underwater navigation under-ice navigation ice-relative navigation extended Kalman filter (EKF) Text 2021 ftmdpi https://doi.org/10.3390/jmse9020174 2023-08-01T01:02:32Z This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error and uncertainty are examined. Results suggest that increasing the number and/or separation of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship-based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also correlated with reduced estimate uncertainty. Our analysis suggests that the proposed method is feasible and can offer scientifically useful navigation accuracy over a range of operating conditions. Text Sea ice MDPI Open Access Publishing Journal of Marine Science and Engineering 9 2 174 |
institution |
Open Polar |
collection |
MDPI Open Access Publishing |
op_collection_id |
ftmdpi |
language |
English |
topic |
autonomous underwater vehicle (AUV) underwater navigation under-ice navigation ice-relative navigation extended Kalman filter (EKF) |
spellingShingle |
autonomous underwater vehicle (AUV) underwater navigation under-ice navigation ice-relative navigation extended Kalman filter (EKF) Laughlin D. L. Barker Louis L. Whitcomb Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
topic_facet |
autonomous underwater vehicle (AUV) underwater navigation under-ice navigation ice-relative navigation extended Kalman filter (EKF) |
description |
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error and uncertainty are examined. Results suggest that increasing the number and/or separation of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship-based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also correlated with reduced estimate uncertainty. Our analysis suggests that the proposed method is feasible and can offer scientifically useful navigation accuracy over a range of operating conditions. |
format |
Text |
author |
Laughlin D. L. Barker Louis L. Whitcomb |
author_facet |
Laughlin D. L. Barker Louis L. Whitcomb |
author_sort |
Laughlin D. L. Barker |
title |
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
title_short |
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
title_full |
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
title_fullStr |
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
title_full_unstemmed |
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice |
title_sort |
performance analysis of ice-relative upward-looking doppler navigation of underwater vehicles beneath moving sea ice |
publisher |
Multidisciplinary Digital Publishing Institute |
publishDate |
2021 |
url |
https://doi.org/10.3390/jmse9020174 |
op_coverage |
agris |
genre |
Sea ice |
genre_facet |
Sea ice |
op_source |
Journal of Marine Science and Engineering; Volume 9; Issue 2; Pages: 174 |
op_relation |
Ocean Engineering https://dx.doi.org/10.3390/jmse9020174 |
op_rights |
https://creativecommons.org/licenses/by/4.0/ |
op_doi |
https://doi.org/10.3390/jmse9020174 |
container_title |
Journal of Marine Science and Engineering |
container_volume |
9 |
container_issue |
2 |
container_start_page |
174 |
_version_ |
1774723357913120768 |