Autonomous Underwater Vehicle Localization Using an Ocean Acoustic Tomographic Sensor

被引：0

作者：

Huang, Sheng-Wei ^{[1
]}

Taniguchi, Naokazu ^{[2
]}

Hsiao, An-Ting ^{[1
]}

Chang, Li-Yaun ^{[1
]}

Huang, Chen-Fen ^{[3
]}

Chan, Yun-Ju ^{[1
]}

Guo, Jenhwa ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Engn Sci & Ocean Engn, Taipei, Taiwan

[2] Hiroshima Univ, Grad Sch Engn, Higashihiroshima, Japan

[3] Natl Taiwan Univ, Inst Oceanog, Taipei, Taiwan

来源：

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) | 2018年

关键词：

AUV environmental awareness; observability; extended Kalman filter; travel time; NAVIGATION;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Ocean sampling using AUVs needs real-time current field information of the sampled environment. We investigate a technique using an AUV and a moored station to estimate the spatial current field. Tomographic sensors are carried on the AUV and the moored station. By planning an observable scanning path for the AUV, bounded position errors using range information with respect to the moored station are guaranteed. The AUV receives one-way-travel-times from the moored station to calculate ranges, and two-way-travel-times for estimating the current speeds. Experimental data collected in a bay are presented to demonstrate the feasibility of the technique.

引用

页数：5

共 50 条

[1] Autonomous Underwater Vehicle Localization Using Ocean Tomography Sensor Nodes
Huang, Sheng-Wei
Taniguchi, Naokazu
Hsiao, An-Ting
Huang, Chen-Fen
Chen, Edward
Ting, Chao-Lung
Guo, Jenhwa
[J]. OCEANS 2016 MTS/IEEE MONTEREY, 2016,
[2] Acoustic-based techniques for autonomous underwater vehicle localization
Petillot, Y.
Maurelli, F.
Valeyrie, N.
Mallios, A.
Ridao, P.
Aulinas, J.
Salvi, J.
[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT, 2010, 224 (M4) : 293 - 307
[3] An autonomous underwater vehicle towed array for ocean acoustic measurements and inversions
Holmes, JD
Carey, WM
Lynch, JF
Newhall, AE
Kukulya, A
[J]. Oceans 2005 - Europe, Vols 1 and 2, 2005, : 1058 - 1061
[4] Ocean flow measurement using an autonomous underwater vehicle
Holappa, K
Dhanak, M
Smith, S
An, E
[J]. PROCEEDINGS OF THE 1996 SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY, 1996, : 424 - 429
[5] Ocean outfall mapping using an autonomous underwater vehicle
Niu, H.
Husain, T.
Veitch, B.
Bose, N.
Adams, S.
He, M.
Lee, K.
[J]. 2007 OCEANS, VOLS 1-5, 2007, : 854 - +
[6] Autonomous underwater acoustic localization through multiple unmanned surface vehicle
Hung, Ching-Tang
Zhang, You-Cheng
Chen, Chi-Fang
[J]. 2022 OCEANS HAMPTON ROADS, 2022,
[7] Validation of Acoustic and Geophysics based Underwater Localization with an Autonomous Surface Vehicle
Choi, Jinwoo
Park, Jeonghong
Jung, Jongdae
Lee, Yoongeon
Choi, Hyun-Taek
[J]. IFAC PAPERSONLINE, 2019, 52 (21): : 367 - 371
[8] A new node coordination scheme for data gathering in underwater acoustic sensor networks using autonomous underwater vehicle
Su, Ruoyu
Venkatesan, R.
Li, Cheng
[J]. 2013 IEEE WIRELESS COMMUNICATIONS AND NETWORKING CONFERENCE (WCNC), 2013, : 4370 - 4374
[9] A sensor fusion scheme for autonomous underwater vehicle localization in cable following
Balasuriya, A
Tamaki, U
[J]. CONTROL APPLICATIONS IN MARINE SYSTEMS 2001 (CAMS 2001), 2002, : 291 - 296
[10] Underwater Vehicle Localization using Angular Measurements of Underwater Acoustic Sources
Choi, Jinwoo
Choi, Hyun-Taek
[J]. 2015 12TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2015, : 235 - 238

← 1 2 3 4 5 →