Terrain Aided Navigation for Long Range AUV operations at arctic latitudes
Terrain Aided Navigation for Long Range AUV operations at arctic latitudes
This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.
115-123
Salavasidis, Georgios
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Harris, Catherine A.
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McPhail, Stephen
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Phillips, Alexander B.
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Rogers, Eric
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12 December 2016
Salavasidis, Georgios
d412a9ad-2659-4e19-9547-fcf0262b0066
Harris, Catherine A.
cceaafa6-e4ea-406e-bece-b4e51513249c
McPhail, Stephen
58ac4bcd-26a6-4845-8e81-6d6a8f18aed7
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Salavasidis, Georgios, Harris, Catherine A., McPhail, Stephen, Phillips, Alexander B. and Rogers, Eric
(2016)
Terrain Aided Navigation for Long Range AUV operations at arctic latitudes.
In 2016 IEEE/OES Autonomous Underwater Vehicles: AUV 2016.
IEEE.
.
(doi:10.1109/AUV.2016.7778658).
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.
Text
07778658
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Accepted/In Press date: 16 July 2016
e-pub ahead of print date: 12 December 2016
Published date: 12 December 2016
Venue - Dates:
2016 IEEE/OES Autonomous Underwater Vehicles: AUV 2016, Japan, Japan, 2016-11-06 - 2016-11-09
Organisations:
University of Southampton, Vision, Learning and Control, Electronics & Computer Science, National Oceanography Centre, Ocean Technology and Engineering
Identifiers
Local EPrints ID: 407189
URI: http://eprints.soton.ac.uk/id/eprint/407189
PURE UUID: de914de6-421d-4e6e-9634-a05177aacd49
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Date deposited: 01 Apr 2017 01:04
Last modified: 07 Oct 2020 01:51
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Contributors
Author:
Georgios Salavasidis
Author:
Catherine A. Harris
Author:
Stephen McPhail
Author:
Alexander B. Phillips
Author:
Eric Rogers
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