USBL integration and assessment in a multisensor navigation approach for AUVs
USBL integration and assessment in a multisensor navigation approach for AUVs
This paper presents the design and assessment of an USBL-aided navigation approach for Autonomous Underwater Vehicles (AUV). The system integrates an Ultra-Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) navigation schema, which also includes the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a Visual Odometer (VO), a pressure sensor, and a Global Positioning System (GPS). In order to be integrated in the estimation filter, the precision of the USBL measurements is derived experimentally. Moreover, the accuracy of the system is evaluated using a ground truth (GT) trajectory produced by a visual Simultaneous Localization and Mapping (SLAM) approach. Experimental results are obtained from marine datasets gathered in the north coast of Mallorca with an AUV, model SPARUS II.
AUV, Localization, Navigation, Robotics, USBL
7905-7910
Font, Eric Guerrero
8c655d37-1894-4d2e-86ff-80e8ce7d2e1d
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Negre, Pep Lluis
c81e0846-e76b-466d-8bfd-c49251a7a7e5
Massot, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
July 2017
Font, Eric Guerrero
8c655d37-1894-4d2e-86ff-80e8ce7d2e1d
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Negre, Pep Lluis
c81e0846-e76b-466d-8bfd-c49251a7a7e5
Massot, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Font, Eric Guerrero, Bonin-Font, Francisco, Negre, Pep Lluis, Massot, Miquel and Oliver-Codina, Gabriel
(2017)
USBL integration and assessment in a multisensor navigation approach for AUVs.
IFAC-PapersOnLine, 50 (1), .
(doi:10.1016/j.ifacol.2017.08.754).
Abstract
This paper presents the design and assessment of an USBL-aided navigation approach for Autonomous Underwater Vehicles (AUV). The system integrates an Ultra-Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) navigation schema, which also includes the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a Visual Odometer (VO), a pressure sensor, and a Global Positioning System (GPS). In order to be integrated in the estimation filter, the precision of the USBL measurements is derived experimentally. Moreover, the accuracy of the system is evaluated using a ground truth (GT) trajectory produced by a visual Simultaneous Localization and Mapping (SLAM) approach. Experimental results are obtained from marine datasets gathered in the north coast of Mallorca with an AUV, model SPARUS II.
Text
1-s2.0-S2405896317312028-main
More information
Published date: July 2017
Additional Information:
Funding Information:
★★This work is partially supported by Ministry of Economy and ★This work is partially supported by Ministry of Economy and CoTmhpisetwitiovrekneisss puanrdteiarlclyonsturapcptosrTteIdN2b0y14M-5i8n6is6t2r-yR,oDf PEIc2o0n1o4m-5y77a4n6d-Competitiveness under contracts TIN2014-58662-R, DPI2014-57746-Com2pRetaitnivdenFeEsDs uEnRdefruncodns.tracts TIN2014-58662-R, DPI2014-57746-C3-2-R and FEDER funds. C3-2-R and FEDER funds.
Publisher Copyright:
© 2017
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
Keywords:
AUV, Localization, Navigation, Robotics, USBL
Identifiers
Local EPrints ID: 455785
URI: http://eprints.soton.ac.uk/id/eprint/455785
ISSN: 2405-8963
PURE UUID: 3bc61502-7a4f-4f42-a564-175fc5962371
Catalogue record
Date deposited: 04 Apr 2022 16:46
Last modified: 18 Mar 2024 03:50
Export record
Altmetrics
Contributors
Author:
Eric Guerrero Font
Author:
Francisco Bonin-Font
Author:
Pep Lluis Negre
Author:
Gabriel Oliver-Codina
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics
