An acoustic-based approach for real-time deep-water navigation of an AUV
Navigation of Autonomous Underwater Vehicles (AUVs) remains a challenge due to the impossibility to use radio frequency signals and Global Positioning System (GPS). Navigation systems usually integrate different proprioceptive sensors to estimate the asset and the speed of the vehicle. In particular...
Published in: | Proceedings of the International Ship Control Systems Symposium (iSCSS), Proceedings of the International Ship Control Systems Symposium (iSCSS) |
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Online Access: | https://zenodo.org/record/2536885 https://doi.org/10.24868/issn.2631-8741.2018.005 |
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ftzenodo:oai:zenodo.org:2536885 2023-05-15T16:51:48+02:00 An acoustic-based approach for real-time deep-water navigation of an AUV Tesei, A Micheli, M Vermeij, A Ferri, G Mazzi, M Grenon, G Morlando, L Costanzi, R Fenucci, D Caiti, A Munafò, A 2018-10-02 https://zenodo.org/record/2536885 https://doi.org/10.24868/issn.2631-8741.2018.005 unknown https://zenodo.org/communities/imarest-iscss https://zenodo.org/record/2536885 https://doi.org/10.24868/issn.2631-8741.2018.005 oai:zenodo.org:2536885 info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-nd/4.0/legalcode Autonomous Underwater Vehicles Deep Water navigation Extended Kalman Filter Data Fusion info:eu-repo/semantics/conferencePaper publication-conferencepaper 2018 ftzenodo https://doi.org/10.24868/issn.2631-8741.2018.005 2023-03-11T03:42:07Z Navigation of Autonomous Underwater Vehicles (AUVs) remains a challenge due to the impossibility to use radio frequency signals and Global Positioning System (GPS). Navigation systems usually integrate different proprioceptive sensors to estimate the asset and the speed of the vehicle. In particular, the Doppler Velocity Log (DVL) is fundamental during the navigation to have an accurate estimate of the vehicle’s speed. This work addresses the enhancement of the navigation performance of an AUV through the development of a Deep Water Navigation Filter (DWNF). The DWNF is able to work in those scenarios where traditional navigation sensors show their limits: e.g., deep waters where DVL bottom lock cannot be achieved, or areas where the use of traditionally used static and dedicated beacons is incompatible with the mission requirements. The proposed approach exploits the concept of using a network of vehicles cooperatively supporting each other for their navigation. Several types of measurements coming from the different nodes (i.e. acoustic positioning system such as ship-mounted SSBL acoustic positioning system, USBL, range measurements from the different nodes) are fused in an Extended Kalman Filter framework with the odometry data. DWNF pushes forward the idea of using a network of robotic assets as a provider of navigation services allowing more flexible and robust operations of the deployed system. The approach has been tested at sea during several experiments. We report here results from DWNF running successfully in real-time on the NATO STO-Centre for Maritime Research and Experimentation (CMRE) vehicles during the Dynamic Mongoose’17 experimentation off the South coast of Iceland (June-July 2017). Conference Object Iceland Zenodo Proceedings of the International Ship Control Systems Symposium (iSCSS), Proceedings of the International Ship Control Systems Symposium (iSCSS) 1 |
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unknown |
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Autonomous Underwater Vehicles Deep Water navigation Extended Kalman Filter Data Fusion |
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Autonomous Underwater Vehicles Deep Water navigation Extended Kalman Filter Data Fusion Tesei, A Micheli, M Vermeij, A Ferri, G Mazzi, M Grenon, G Morlando, L Costanzi, R Fenucci, D Caiti, A Munafò, A An acoustic-based approach for real-time deep-water navigation of an AUV |
topic_facet |
Autonomous Underwater Vehicles Deep Water navigation Extended Kalman Filter Data Fusion |
description |
Navigation of Autonomous Underwater Vehicles (AUVs) remains a challenge due to the impossibility to use radio frequency signals and Global Positioning System (GPS). Navigation systems usually integrate different proprioceptive sensors to estimate the asset and the speed of the vehicle. In particular, the Doppler Velocity Log (DVL) is fundamental during the navigation to have an accurate estimate of the vehicle’s speed. This work addresses the enhancement of the navigation performance of an AUV through the development of a Deep Water Navigation Filter (DWNF). The DWNF is able to work in those scenarios where traditional navigation sensors show their limits: e.g., deep waters where DVL bottom lock cannot be achieved, or areas where the use of traditionally used static and dedicated beacons is incompatible with the mission requirements. The proposed approach exploits the concept of using a network of vehicles cooperatively supporting each other for their navigation. Several types of measurements coming from the different nodes (i.e. acoustic positioning system such as ship-mounted SSBL acoustic positioning system, USBL, range measurements from the different nodes) are fused in an Extended Kalman Filter framework with the odometry data. DWNF pushes forward the idea of using a network of robotic assets as a provider of navigation services allowing more flexible and robust operations of the deployed system. The approach has been tested at sea during several experiments. We report here results from DWNF running successfully in real-time on the NATO STO-Centre for Maritime Research and Experimentation (CMRE) vehicles during the Dynamic Mongoose’17 experimentation off the South coast of Iceland (June-July 2017). |
format |
Conference Object |
author |
Tesei, A Micheli, M Vermeij, A Ferri, G Mazzi, M Grenon, G Morlando, L Costanzi, R Fenucci, D Caiti, A Munafò, A |
author_facet |
Tesei, A Micheli, M Vermeij, A Ferri, G Mazzi, M Grenon, G Morlando, L Costanzi, R Fenucci, D Caiti, A Munafò, A |
author_sort |
Tesei, A |
title |
An acoustic-based approach for real-time deep-water navigation of an AUV |
title_short |
An acoustic-based approach for real-time deep-water navigation of an AUV |
title_full |
An acoustic-based approach for real-time deep-water navigation of an AUV |
title_fullStr |
An acoustic-based approach for real-time deep-water navigation of an AUV |
title_full_unstemmed |
An acoustic-based approach for real-time deep-water navigation of an AUV |
title_sort |
acoustic-based approach for real-time deep-water navigation of an auv |
publishDate |
2018 |
url |
https://zenodo.org/record/2536885 https://doi.org/10.24868/issn.2631-8741.2018.005 |
genre |
Iceland |
genre_facet |
Iceland |
op_relation |
https://zenodo.org/communities/imarest-iscss https://zenodo.org/record/2536885 https://doi.org/10.24868/issn.2631-8741.2018.005 oai:zenodo.org:2536885 |
op_rights |
info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-nd/4.0/legalcode |
op_doi |
https://doi.org/10.24868/issn.2631-8741.2018.005 |
container_title |
Proceedings of the International Ship Control Systems Symposium (iSCSS), Proceedings of the International Ship Control Systems Symposium (iSCSS) |
container_volume |
1 |
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1766041898914414592 |