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...
Published in: | IEEE Journal of Oceanic Engineering |
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Online Access: | http://hdl.handle.net/11568/1124267 https://doi.org/10.1109/JOE.2021.3085941 |
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ftunivpisairis:oai:arpi.unipi.it:11568/1124267 2024-04-21T07:58:19+00:00 Terrain-Aided Navigation with Coarse Maps - Toward an Arctic Crossing with an AUV Salavasidis G. Munafo' A. McPhail S. Harris C. A. Fenucci D. Pebody M. Rogers E. Phillips A. B. Salavasidis, G. Munafo', A. Mcphail, S. Harris, C. A. Fenucci, D. Pebody, M. Rogers, E. Phillips, A. B. 2021 http://hdl.handle.net/11568/1124267 https://doi.org/10.1109/JOE.2021.3085941 eng eng info:eu-repo/semantics/altIdentifier/wos/WOS:000706820200010 volume:46 issue:4 firstpage:1192 lastpage:1212 numberofpages:21 journal:IEEE JOURNAL OF OCEANIC ENGINEERING http://hdl.handle.net/11568/1124267 doi:10.1109/JOE.2021.3085941 info:eu-repo/semantics/altIdentifier/scopus/2-s2.0-85111554017 Long-range autonomous underwater vehicles (AUVs) polar vehicle operation terrain-aided navigation (TAN) under-ice navigation underwater navigation info:eu-repo/semantics/article 2021 ftunivpisairis https://doi.org/10.1109/JOE.2021.3085941 2024-03-28T01:43:16Z 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 Barrow Point Barrow Sea ice Svalbard Alaska ARPI - Archivio della Ricerca dell'Università di Pisa IEEE Journal of Oceanic Engineering 46 4 1192 1212 |
institution |
Open Polar |
collection |
ARPI - Archivio della Ricerca dell'Università di Pisa |
op_collection_id |
ftunivpisairis |
language |
English |
topic |
Long-range autonomous underwater vehicles (AUVs) polar vehicle operation terrain-aided navigation (TAN) under-ice navigation underwater navigation |
spellingShingle |
Long-range autonomous underwater vehicles (AUVs) polar vehicle operation terrain-aided navigation (TAN) under-ice navigation underwater navigation Salavasidis G. Munafo' A. McPhail S. Harris C. A. Fenucci D. Pebody M. Rogers E. Phillips A. B. Terrain-Aided Navigation with Coarse Maps - Toward an Arctic Crossing with an AUV |
topic_facet |
Long-range autonomous underwater vehicles (AUVs) polar vehicle operation terrain-aided navigation (TAN) under-ice navigation underwater navigation |
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. |
author2 |
Salavasidis, G. Munafo', A. Mcphail, S. Harris, C. A. Fenucci, D. Pebody, M. Rogers, E. Phillips, A. B. |
format |
Article in Journal/Newspaper |
author |
Salavasidis G. Munafo' A. McPhail S. Harris C. A. Fenucci D. Pebody M. Rogers E. Phillips A. B. |
author_facet |
Salavasidis G. Munafo' A. McPhail S. Harris C. A. Fenucci D. Pebody M. Rogers E. Phillips A. B. |
author_sort |
Salavasidis G. |
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 |
http://hdl.handle.net/11568/1124267 https://doi.org/10.1109/JOE.2021.3085941 |
genre |
Barrow Point Barrow Sea ice Svalbard Alaska |
genre_facet |
Barrow Point Barrow Sea ice Svalbard Alaska |
op_relation |
info:eu-repo/semantics/altIdentifier/wos/WOS:000706820200010 volume:46 issue:4 firstpage:1192 lastpage:1212 numberofpages:21 journal:IEEE JOURNAL OF OCEANIC ENGINEERING http://hdl.handle.net/11568/1124267 doi:10.1109/JOE.2021.3085941 info:eu-repo/semantics/altIdentifier/scopus/2-s2.0-85111554017 |
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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