This paper presents an on-line nonlinear least squares algorithm for multi-sensor autonomous underwater vehicle (AUV) navigation. The approach integrates the global constraints of range to and GPS position of a surface vehicle or buoy communicated via acoustic modems and relative pose constraints arising from targets detected in side-scan sonar images. The approach utilizes an efficient optimization algorithm, iSAM, which allows for consistent on-line estimation of the entire set of trajectory constraints. The optimized trajectory can then be used to more accurately navigate the AUV, to extend mission duration, and to avoid GPS surfacing. As iSAM provides efficient access to the marginal covariances of previously observed features, automatic data association is greatly simplified — particularly in sparse marine environments. A key feature of our approach is its intended scalability to single surface sensor (a vehicle or buoy) broadcasting its GPS position and simultaneous one-way travel time range (OWTT) to multiple AUVs. We discuss why our approach is scalable as well as robust to modem transmission failure. Results are provided for an ocean experiment using a Hydroid REMUS 100 AUV co-operating with one of two craft: an autonomous surface vehicle (ASV) and a manned support vessel. During these experiments the ranging portion of the algorithm ran online on-board the AUV. Extension of the paradigm to multiple missions via the optimization of successive survey missions (and the resultant sonar mosaics) is also demonstrated.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar


    Beteiligte:

    Erscheinungsdatum :

    2011


    Anmerkungen:

    Fallon, Maurice F. et al. "Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar" IEEE International Conference on Robotics and Automation. Proceedings, (ICRA), May 9-13, 2011,Shanghai International Conference Center, Shanghai, China.


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    CHOOSING SIDE SCAN SONAR FREQUENCIES

    McGowen, D. / Morris, R. | British Library Online Contents | 2013



    Carrying device for side-scan sonar

    LIN YAN / CHEN MING / YU YANYUN et al. | Europäisches Patentamt | 2017

    Freier Zugriff

    SIDE SCAN SONAR SEPARATED CONTROL UNIT

    LEE SEUNG HUN / JUNG SEOM KYU / JANG NAM DO | Europäisches Patentamt | 2016

    Freier Zugriff

    Erster Kieler Side Scan Sonar-Workshop

    Pietrek, Hartmut / Deutsche Hydrographische Gesellschaft e.V. | HENRY – Bundesanstalt für Wasserbau (BAW) | 2008

    Freier Zugriff