Range-only positioning of a deep-diving Autonomous Underwater Vehicle from a surface ship
Range-only positioning of a deep-diving Autonomous Underwater Vehicle from a surface ship
This paper describes a method for the precise postprocessed
positioning of a deep-diving autonomous underwater vehicle
(AUV) using only a set of acoustic ranges from a surface ship
while the AUV executes a closed path under the ship. This approach
avoids the use of either a precisely calibrated (and consequently
expensive) ultrashort baseline (USBL), or a long baseline
(LBL) system (which is expensive in ship time to deploy). Results of
Monte Carlo simulation and field results from the first trials of the
Autosub6000 AUV are presented to support the hypothesis that an
AUV at 6000-m depth can be positioned to an accuracy commensurate
with global positioning system (GPS) quality or better, within
a period of 1 h.
Autonomous underwater vehicle (AUV), navigation, range-only positioning
669-677
McPhail, Stephen D.
58ac4bcd-26a6-4845-8e81-6d6a8f18aed7
Pebody, Miles
061eafd0-c200-4701-b465-274140a4602b
October 2009
McPhail, Stephen D.
58ac4bcd-26a6-4845-8e81-6d6a8f18aed7
Pebody, Miles
061eafd0-c200-4701-b465-274140a4602b
McPhail, Stephen D. and Pebody, Miles
(2009)
Range-only positioning of a deep-diving Autonomous Underwater Vehicle from a surface ship.
IEEE Journal of Oceanic Engineering, 34 (4), .
(doi:10.1109/JOE.2009.2030223).
Abstract
This paper describes a method for the precise postprocessed
positioning of a deep-diving autonomous underwater vehicle
(AUV) using only a set of acoustic ranges from a surface ship
while the AUV executes a closed path under the ship. This approach
avoids the use of either a precisely calibrated (and consequently
expensive) ultrashort baseline (USBL), or a long baseline
(LBL) system (which is expensive in ship time to deploy). Results of
Monte Carlo simulation and field results from the first trials of the
Autosub6000 AUV are presented to support the hypothesis that an
AUV at 6000-m depth can be positioned to an accuracy commensurate
with global positioning system (GPS) quality or better, within
a period of 1 h.
This record has no associated files available for download.
More information
Published date: October 2009
Keywords:
Autonomous underwater vehicle (AUV), navigation, range-only positioning
Identifiers
Local EPrints ID: 69176
URI: http://eprints.soton.ac.uk/id/eprint/69176
ISSN: 0364-9059
PURE UUID: 48d4f3be-e0a6-4580-a308-4ee6776d7249
Catalogue record
Date deposited: 22 Oct 2009
Last modified: 13 Mar 2024 19:26
Export record
Altmetrics
Contributors
Author:
Stephen D. McPhail
Author:
Miles Pebody
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