Pure range-only sub-sea SLAM

Author

Newman, P. ; Leonard, J.

Author_Institution

Massachusetts Inst. of Technol., MA, USA

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1921

Abstract

This paper is about using range-only data to navigate an autonomous underwater vehicle (AUV). We assume the vehicle is equipped with conventional long base line (LBL) transceiver which measures acoustic time of flights (TOFs) between vehicle and small submerged transponders. Using only range data and no prior information other than approximate water column depth, we solve for both transponder location and vehicle trajectory. Results are given using data from a AUV operating in shallow water. A ground truth comparison is made with surveyed transponder locations and trajectory estimates from an on-board Doppler/Compass/LBL derived navigation filter.

Keywords

navigation; position control; sonar; transponders; underwater sound; underwater vehicles; acoustic flight time; autonomous underwater vehicle; ground truth comparison; long base line transceiver; navigation; navigation filter; range-only simultaneous localization; range-only simultaneous mapping; submerged transponders; subsea simultaneous localization; subsea simultaneous mapping; transponder location; vehicle trajectory; water column depth; Acoustic measurements; Marine vehicles; Navigation; Remotely operated vehicles; Simultaneous localization and mapping; Time measurement; Transceivers; Transponders; Underwater acoustics; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241875

Filename

1241875