Challenges in underwater navigation: Exploring magnetic sensors anomaly sensing and navigation

This work combines magnetic field sensing and underwater navigation without the need of a priori maps. The initial work utilizes distributed cooperative localization and control used estimate the states of nodes (autonomous underwater vehicles - AUVs) that carry magnetic sensors. Because of their size, weight, power consumption, and cost fluxgate magnetometers are considered. The distributed estimation method and formation control algorithms allow for the creation of various shapes (vertical, horizontal, and longitudinal) of gradiometer sensor using multiple gliders/AUVs that each carry magnetometers as opposed to traditionally considered arrays on a single AUV. This procedure can be applied in Mine Countermeasures (MCM) - military or unexploded ordnances (UXO) both to detect / localize the anomalies (mines) or cable and pipeline survey - civilian, thus serving as a “payload” sensor. At the same time, the same anomailes can be used as features for navigation corrections.