Towards AUV Passive Localization and Navigation

被引：0

作者：

Horner, Douglas ^{[1
]}

Leary, Paul ^{[1
]}

Smith, Kevin ^{[1
]}

Orescanin, Marko ^{[1
]}

Joseph, John ^{[1
]}

机构：

[1] Naval Postgraduate Sch, Dept Oceanog, Dept Comp Sci, Dept Phys,Dept Mech & Aerospace Engn, Monterey, CA 93943 USA

来源：

OCEANS 2021: SAN DIEGO - PORTO | 2021年

关键词：

Passive Acoustics; Simultaneous Localization and Mapping; Passive Acoustic Vector Sensor; Autonomous Underwater Vehicle;

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：

This paper addresses the potential for using signals of opportunity within an underwater harbor-like environment for AUV localization and navigation using only a passive acoustic sensor together with a overhead map. It presents passive acoustic data collected in Monterey harbor, CA and demonstrates how the sensor data can be used to estimate bearing and how the combination of bearing measurements and stochastic assumptions about the signal's origins can be used as input into a SLAM algorithm for position localization.

引用

页数：6

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