Terrain Based Localization Method for Wreck Observation AUV

Author

Ura, Tamaki ; Nakatani, Takeshi ; Nose, Yoshiaki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ.

fYear

2006

fDate

18-21 Sept. 2006

Firstpage

1

Lastpage

6

Abstract

In this paper, we propose a wreck observation system using an AUV (Autonomous underwater vehicle) and introduce an AUV that we are developing for this system. Furthermore, we propose a terrain based localization method for the positioning of the AUV, which does not depend on external and costly help such as transponder based positioning systems. The proposed method is robust against altitude offset compared to conventional terrain based methods. The results of the simulation, performed using the data collected during a sea experiment, demonstrate the efficiency of the proposed method

Keywords

remotely operated vehicles; seafloor phenomena; transponders; underwater vehicles; AUV; Autonomous underwater vehicle; altitude offset; data collection; sea experiment; terrain based localization method; transponder based positioning systems; wreck observation; Global Positioning System; Marine vehicles; Optical fiber sensors; Optical sensors; Remotely operated vehicles; Robustness; Sea measurements; Sonar measurements; Transponders; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2006

Conference_Location

Boston, MA

Print_ISBN

1-4244-0114-3

Electronic_ISBN

1-4244-0115-1

Type

conf

DOI

10.1109/OCEANS.2006.306942

Filename

4099097