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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
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
Springer International
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
Alboul, Lyuba
Damian, Dana
Aitken, Jonathan M.
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
Alboul, Lyuba
Damian, Dana
Aitken, Jonathan M.

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 International. pp. 275-281 . (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, 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
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506

Catalogue record

Date deposited: 17 Nov 2016 15:35
Last modified: 17 Dec 2019 02:02

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