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An USBL-aided multisensor navigation system for field AUVs

An USBL-aided multisensor navigation system for field AUVs
An USBL-aided multisensor navigation system for field AUVs
This paper presents the integration of an Ultra Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) multisensor navigation schema for an Autonomous Underwater Vehicle (AUV). The system consists of a first odometric EKF position estimator fed with the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a visual tracker and a pressure sensor, and a second corrective EKF that fuses the previous sensors with the Global Positioning System (GPS) and the corrected delayed-state Ultra Short Base Line (USBL) position data. The first filter is aimed to compute a highly reliable vehicle position estimation from the sensor suit that produces high frequency relative navigation data. This estimation is essential to correct the delay of the USBL position measurements. The objective of the second filter is to give the vehicle a global pose, eliminating the drift inherent to deadreckoning sensors by integrating absolute positions (GPS and USBL) provided at low frequencies. The effects of the USBL integration in the global localization module are evaluated in a simulated environment, and compared to a ground truth trajectory with the pose estimates given by the first EKF, the USBL raw data and the output of the second EKF, showing an effective reduction of the trajectory error.
430-435
IEEE
Guerrero-Font, Eric
6e4ed4c6-59b8-4d11-9c3b-0acaaa9dd3a5
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Negre, Pep Lluis
c81e0846-e76b-466d-8bfd-c49251a7a7e5
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Codina, Gabriel Oliver
7550b6e0-f2f9-49aa-92d1-e980d4b605b3
Guerrero-Font, Eric
6e4ed4c6-59b8-4d11-9c3b-0acaaa9dd3a5
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Negre, Pep Lluis
c81e0846-e76b-466d-8bfd-c49251a7a7e5
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Codina, Gabriel Oliver
7550b6e0-f2f9-49aa-92d1-e980d4b605b3

Guerrero-Font, Eric, Massot-Campos, Miquel, Negre, Pep Lluis, Bonin-Font, Francisco and Codina, Gabriel Oliver (2017) An USBL-aided multisensor navigation system for field AUVs. In, 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, , (doi:10.1109/MFI.2016.7849526)) IEEE, pp. 430-435. (doi:10.1109/MFI.2016.7849526).

Record type: Book Section

Abstract

This paper presents the integration of an Ultra Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) multisensor navigation schema for an Autonomous Underwater Vehicle (AUV). The system consists of a first odometric EKF position estimator fed with the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a visual tracker and a pressure sensor, and a second corrective EKF that fuses the previous sensors with the Global Positioning System (GPS) and the corrected delayed-state Ultra Short Base Line (USBL) position data. The first filter is aimed to compute a highly reliable vehicle position estimation from the sensor suit that produces high frequency relative navigation data. This estimation is essential to correct the delay of the USBL position measurements. The objective of the second filter is to give the vehicle a global pose, eliminating the drift inherent to deadreckoning sensors by integrating absolute positions (GPS and USBL) provided at low frequencies. The effects of the USBL integration in the global localization module are evaluated in a simulated environment, and compared to a ground truth trajectory with the pose estimates given by the first EKF, the USBL raw data and the output of the second EKF, showing an effective reduction of the trajectory error.

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Published date: 9 February 2017

Identifiers

Local EPrints ID: 428788
URI: http://eprints.soton.ac.uk/id/eprint/428788
PURE UUID: 00d7b6ac-2fb0-46b8-b2b9-8e4963426ce6
ORCID for Miquel Massot-Campos: ORCID iD orcid.org/0000-0002-1202-0362

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Date deposited: 08 Mar 2019 17:30
Last modified: 23 Jul 2020 00:46

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Contributors

Author: Eric Guerrero-Font
Author: Pep Lluis Negre
Author: Francisco Bonin-Font
Author: Gabriel Oliver Codina

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