Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV
The desire to conduct research in the Arctic on an ever-larger spatiotemporal scale has led to the development of long-range autonomous underwater vehicles (AUVs), such as the Autosub Long-Range 1500 (ALR1500). While these platforms open up a world of new applications, their actual use is limited in...
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Online Access: | https://eprints.soton.ac.uk/480480/ https://eprints.soton.ac.uk/480480/1/joe.pdf |
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ftsouthampton:oai:eprints.soton.ac.uk:480480 2023-12-03T10:15:01+01:00 Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV Salavasidis, Georgios Munafò, Andrea Harris, Catherine A. McPhail, Stephen D. Fenucci, Davide Pebody, Miles Rogers, Eric Phillips, Alexander 2021-07-26 text https://eprints.soton.ac.uk/480480/ https://eprints.soton.ac.uk/480480/1/joe.pdf en English eng https://eprints.soton.ac.uk/480480/1/joe.pdf Salavasidis, Georgios, Munafò, Andrea, Harris, Catherine A., McPhail, Stephen D., Fenucci, Davide, Pebody, Miles, Rogers, Eric and Phillips, Alexander (2021) Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV. IEEE Journal of Oceanic Engineering, 46 (4), 1192-1212. (doi:10.1109/JOE.2021.3085941 <http://dx.doi.org/10.1109/JOE.2021.3085941>). accepted_manuscript Article PeerReviewed 2021 ftsouthampton https://doi.org/10.1109/JOE.2021.3085941 2023-11-03T00:09:20Z The desire to conduct research in the Arctic on an ever-larger spatiotemporal scale has led to the development of long-range autonomous underwater vehicles (AUVs), such as the Autosub Long-Range 1500 (ALR1500). While these platforms open up a world of new applications, their actual use is limited in GPS-denied environments since self-contained navigation remains yet unavailable. In response, this study evaluates whether terrain-aided navigation (TAN) can enable multimonth deployments using basic navigation sensors and sparse bathymetric maps. To evaluate the potential, ALR1500 undertakes a hypothetical science-driven mission from Svalbard (Norway) to Point Barrow (Alaska, USA) under the sea ice (a mission over 3200 km). Therefore, a simulated environment is developed, which integrates a state-of-the-art model of water circulation, error models for heading estimation at high latitudes, and an Arctic bathymetric map. Recognizing that this map is constructed based on sparse depth measurements and interpolation techniques, a bathymetric uncertainty model is developed. The performance of the TAN algorithm is examined with respect to the type of the heading sensor utilized and a range of vertical map distortions, calculated using the developed bathymetric uncertainty model. Simulations show that unaided navigation experiences an error of hundreds of kilometers, whereas TAN provides acceptable accuracy given a moderate map distortion. By degrading the quality of the map further, it appears that the navigation filter may diverge when traversing large regions subject to interpolation. Therefore, a rapidly-exploring random tree star algorithm is used to design a new path such that the AUV traverses reliable and rich in topographic information areas. Article in Journal/Newspaper Arctic Arctic Barrow Point Barrow Sea ice Svalbard Alaska University of Southampton: e-Prints Soton Arctic Svalbard Norway IEEE Journal of Oceanic Engineering 46 4 1192 1212 |
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Open Polar |
collection |
University of Southampton: e-Prints Soton |
op_collection_id |
ftsouthampton |
language |
English |
description |
The desire to conduct research in the Arctic on an ever-larger spatiotemporal scale has led to the development of long-range autonomous underwater vehicles (AUVs), such as the Autosub Long-Range 1500 (ALR1500). While these platforms open up a world of new applications, their actual use is limited in GPS-denied environments since self-contained navigation remains yet unavailable. In response, this study evaluates whether terrain-aided navigation (TAN) can enable multimonth deployments using basic navigation sensors and sparse bathymetric maps. To evaluate the potential, ALR1500 undertakes a hypothetical science-driven mission from Svalbard (Norway) to Point Barrow (Alaska, USA) under the sea ice (a mission over 3200 km). Therefore, a simulated environment is developed, which integrates a state-of-the-art model of water circulation, error models for heading estimation at high latitudes, and an Arctic bathymetric map. Recognizing that this map is constructed based on sparse depth measurements and interpolation techniques, a bathymetric uncertainty model is developed. The performance of the TAN algorithm is examined with respect to the type of the heading sensor utilized and a range of vertical map distortions, calculated using the developed bathymetric uncertainty model. Simulations show that unaided navigation experiences an error of hundreds of kilometers, whereas TAN provides acceptable accuracy given a moderate map distortion. By degrading the quality of the map further, it appears that the navigation filter may diverge when traversing large regions subject to interpolation. Therefore, a rapidly-exploring random tree star algorithm is used to design a new path such that the AUV traverses reliable and rich in topographic information areas. |
format |
Article in Journal/Newspaper |
author |
Salavasidis, Georgios Munafò, Andrea Harris, Catherine A. McPhail, Stephen D. Fenucci, Davide Pebody, Miles Rogers, Eric Phillips, Alexander |
spellingShingle |
Salavasidis, Georgios Munafò, Andrea Harris, Catherine A. McPhail, Stephen D. Fenucci, Davide Pebody, Miles Rogers, Eric Phillips, Alexander Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
author_facet |
Salavasidis, Georgios Munafò, Andrea Harris, Catherine A. McPhail, Stephen D. Fenucci, Davide Pebody, Miles Rogers, Eric Phillips, Alexander |
author_sort |
Salavasidis, Georgios |
title |
Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
title_short |
Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
title_full |
Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
title_fullStr |
Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
title_full_unstemmed |
Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV |
title_sort |
terrain-aided navigation with coarse maps—toward an arctic crossing with an auv |
publishDate |
2021 |
url |
https://eprints.soton.ac.uk/480480/ https://eprints.soton.ac.uk/480480/1/joe.pdf |
geographic |
Arctic Svalbard Norway |
geographic_facet |
Arctic Svalbard Norway |
genre |
Arctic Arctic Barrow Point Barrow Sea ice Svalbard Alaska |
genre_facet |
Arctic Arctic Barrow Point Barrow Sea ice Svalbard Alaska |
op_relation |
https://eprints.soton.ac.uk/480480/1/joe.pdf Salavasidis, Georgios, Munafò, Andrea, Harris, Catherine A., McPhail, Stephen D., Fenucci, Davide, Pebody, Miles, Rogers, Eric and Phillips, Alexander (2021) Terrain-Aided Navigation With Coarse Maps—Toward an Arctic Crossing With an AUV. IEEE Journal of Oceanic Engineering, 46 (4), 1192-1212. (doi:10.1109/JOE.2021.3085941 <http://dx.doi.org/10.1109/JOE.2021.3085941>). |
op_rights |
accepted_manuscript |
op_doi |
https://doi.org/10.1109/JOE.2021.3085941 |
container_title |
IEEE Journal of Oceanic Engineering |
container_volume |
46 |
container_issue |
4 |
container_start_page |
1192 |
op_container_end_page |
1212 |
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1784262024227717120 |