Fusing acoustic ranges and inertial measurements in AUV navigation: The Typhoon AUV at CommsNet13 sea trial

Author

Caiti, Andrea ; Di Corato, Francesco ; Fenucci, Davide ; Allotta, Benedetto ; Bartolini, Fabio ; Costanzi, Riccardo ; Gelli, Jonathan ; Monni, Niccolo ; Natalini, Marco ; Pugi, Luca ; Ridolfi, Alessandro

Author_Institution

ISME - Interuniv. Res. Ctr. Integrated Syst. for the Marine Environ., Italy

fYear

2014

fDate

7-10 April 2014

Firstpage

1

Lastpage

5

Abstract

The paper presents some experimental results of autonomous underwater navigation, based on the fusion of acoustic and inertial measurements. The work is in the framework of the Thesaurus project, funded by the Tuscany Region, aiming at developing techniques for systematic exploration of marine areas of archaeological interest through a team of Autonomous Underwater Vehicles (AUVs). The test was carried out with one Typhoon vehicle, a 300m depth rated AUV with acoustic communication capabilities, during the CommsNet13 experiment, organized and scientifically coordinated by the NATO S&T Org. Ctr. for Maritime Research and Experimentation (CMRE, formerly NURC), with the participation of several research institutions. The fusion algorithm is formally casted into an optimal stochastic filtering problem, where the rough estimation of the vehicle position, velocity and attitude, are refined by using the depth measurement, the relative measurements available on the acoustic channel and the vehicle surge speed.

Keywords

acoustic signal processing; autonomous underwater vehicles; filtering theory; marine navigation; sensor fusion; stochastic processes; underwater acoustic communication; AUV navigation; CommsNet13 sea trial; acoustic channel; acoustic communication capability; acoustic range fusion; archaeological interest; attitude estimation; autonomous underwater navigation; autonomous underwater vehicles; depth 300 m; depth measurement; inertial measurements; marine area systematic exploration; optimal stochastic filtering problem; thesaurus project; typhoon AUV; typhoon vehicle; vehicle position estimation; vehicle surge speed; velocity estimation; Acoustic measurements; Acoustics; Global Positioning System; Mathematical model; Sensors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2014 - TAIPEI

Conference_Location

Taipei

Print_ISBN

978-1-4799-3645-8

Type

conf

DOI

10.1109/OCEANS-TAIPEI.2014.6964559

Filename

6964559