Title :
Delayed state information filter for USBL-Aided AUV navigation
Author :
Ribas, David ; Ridao, Pere ; Mallios, Angelos ; Palomeras, Narcís
Author_Institution :
Comput. Vision & Robot. Group, Univ. of Girona, Girona, Spain
Abstract :
This paper presents a navigation system for an Autonomous Underwater Vehicle (AUV) which merges standard dead reckoning navigation data with absolute position fixes from an Ultra-Short Base Line (USBL) system. Traditionally, the USBL transceiver is located on the surface, which makes necessary to feed the position fixes back to the AUV by means of an acoustic modem. An Information filter, which maintains a bounded circular buffer of past vehicle poses, is in charge of the sensor data fusion while dealing with the delays induced by the acoustic communication. The method is validated using a data set gathered for a dam inspection task.
Keywords :
autonomous underwater vehicles; delays; filtering theory; information filters; modems; navigation; sensor fusion; transceivers; underwater acoustic communication; USBL system; USBL transceiver; USBL-aided AUV navigation; absolute position fixes; acoustic communication delays; acoustic modem; autonomous underwater vehicle; bounded circular buffer; dam inspection task; delayed state information filter; navigation system; sensor data fusion; standard dead reckoning navigation data; ultra-short base line system; vehicle poses; Covariance matrix; Delay; Navigation; Robots; Vectors; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224989
