Co-operative use of marine autonomous systems to enhance navigational accuracy of autonomous underwater vehicles
Co-operative use of marine autonomous systems to enhance navigational accuracy of autonomous underwater vehicles
This paper gives the first results from a research programme that aims to develop efficient navigation techniques for long range Autonomous Underwater Vehicles (AUVs) conducting ocean basin transits using low power sensors. The results results relate to the development of and on-line and low power cooperative navigation scheme between an AUV and an Unmanned Surface Vehicle (USV), where the latter acts as an acoustic tether for localization error reduction. Most of the computations are executed on the USV in order to reduce the power requirements of the AUV. The methodology is assessed by numerical simulation, where the Dead Reckoning (DR) error is modelled using data obtained from field trials and the result show that considerable estimation error reduction is possible even in very deep water operations.
275-281
Salavasidis, Georgios
d412a9ad-2659-4e19-9547-fcf0262b0066
Harris, Catherine A.
cceaafa6-e4ea-406e-bece-b4e51513249c
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
2016
Salavasidis, Georgios
d412a9ad-2659-4e19-9547-fcf0262b0066
Harris, Catherine A.
cceaafa6-e4ea-406e-bece-b4e51513249c
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Salavasidis, Georgios, Harris, Catherine A., Rogers, Eric and Phillips, Alexander B.
(2016)
Co-operative use of marine autonomous systems to enhance navigational accuracy of autonomous underwater vehicles.
Alboul, Lyuba, Damian, Dana and Aitken, Jonathan M.
(eds.)
In Towards Autonomous Robotic Systems: 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings.
Springer.
.
(doi:10.1007/978-3-319-40379-3).
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper gives the first results from a research programme that aims to develop efficient navigation techniques for long range Autonomous Underwater Vehicles (AUVs) conducting ocean basin transits using low power sensors. The results results relate to the development of and on-line and low power cooperative navigation scheme between an AUV and an Unmanned Surface Vehicle (USV), where the latter acts as an acoustic tether for localization error reduction. Most of the computations are executed on the USV in order to reduce the power requirements of the AUV. The methodology is assessed by numerical simulation, where the Dead Reckoning (DR) error is modelled using data obtained from field trials and the result show that considerable estimation error reduction is possible even in very deep water operations.
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More information
Accepted/In Press date: 31 March 2016
Published date: 2016
Venue - Dates:
TAROS 2016 17th Annual Conference, Sheffield, United Kingdom, 2016-06-26 - 2016-07-01
Organisations:
Electronics & Computer Science, Ocean Technology and Engineering
Identifiers
Local EPrints ID: 403046
URI: http://eprints.soton.ac.uk/id/eprint/403046
PURE UUID: 99935526-7084-43c3-b006-31be37b03b85
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Date deposited: 17 Nov 2016 15:35
Last modified: 16 Mar 2024 03:42
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Contributors
Author:
Georgios Salavasidis
Author:
Catherine A. Harris
Author:
Eric Rogers
Author:
Alexander B. Phillips
Editor:
Lyuba Alboul
Editor:
Dana Damian
Editor:
Jonathan M. Aitken
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