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Closed-loop one-way-traveltime navigation using low-grade odometry for autonomous underwater vehicles

Claus, Brian and Kepper, James H., IV and Suman, Stefano and Kinsey, James C. (2018) Closed-loop one-way-traveltime navigation using low-grade odometry for autonomous underwater vehicles. Journal of Field Robotics, 35 (4). pp. 421-434. ISSN 1556-4959. http://resolver.caltech.edu/CaltechAUTHORS:20180329-084738488

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Abstract

This paper extends the progress of single beacon one‐way‐travel‐time (OWTT) range measurements for constraining XY position for autonomous underwater vehicles (AUV). Traditional navigation algorithms have used OWTT measurements to constrain an inertial navigation system aided by a Doppler Velocity Log (DVL). These methodologies limit AUV applications to where DVL bottom‐lock is available as well as the necessity for expensive strap‐down sensors, such as the DVL. Thus, deep water, mid‐water column research has mostly been left untouched, and vehicles that need expensive strap‐down sensors restrict the possibility of using multiple AUVs to explore a certain area. This work presents a solution for accurate navigation and localization using a vehicle's odometry determined by its dynamic model velocity and constrained by OWTT range measurements from a topside source beacon as well as other AUVs operating in proximity. We present a comparison of two navigation algorithms: an Extended Kalman Filter (EKF) and a Particle Filter(PF). Both of these algorithms also incorporate a water velocity bias estimator that further enhances the navigation accuracy and localization. Closed‐loop online field results on local waters as well as a real‐time implementation of two days field trials operating in Monterey Bay, California during the Keck Institute for Space Studies oceanographic research project prove the accuracy of this methodology with a root mean square error on the order of tens of meters compared to GPS position over a distance traveled of multiple kilometers.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1002/rob.21746DOIArticle
https://onlinelibrary.wiley.com/doi/10.1002/rob.21746PublisherArticle
ORCID:
AuthorORCID
Claus, Brian0000-0003-2335-6053
Kepper, James H., IV0000-0001-6559-7846
Additional Information:© 2017 The Authors. Journal of Field Robotics published by Wiley Periodicals, Inc. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. Issue Online 18 May 2018; Version of Record online: 07 September 2017; Manuscript accepted: 02 August 2017; Manuscript revised: 31 July 2017; Manuscript received: 05 March 2017. This work was supported in part through funding from the Weston Howland Jr. Postdoctoral Scholar Award (BCC),the U.S. Navy's Civilian Institution program via the MIT/WHOI Joint Program (JHK), W. M. Keck Institute for Space Studies, and the Woods Hole Oceanographic Institution. The authors would like to thank Dr. Ben Hodges, who provided two of the AUVs used in these experiments, Dr. David Fratantoni, who assisted with the field experiments, Dr. Richard Camilli, who lent the boat used as the surface beacon in the Ashumet Pond field experiments, and Dr. Sarah Webster, who provided valuable insight and feed-back. Captain Jim Christmann of the R/V Shana Rae ably supported our California field work.
Group:Keck Institute for Space Studies
Funders:
Funding AgencyGrant Number
Weston Howland Jr. Postdoctoral Scholar AwardUNSPECIFIED
U.S. Navy Civilian Institution programUNSPECIFIED
MIT/WHOI Joint ProgramUNSPECIFIED
Keck Institute for Space Studies (KISS)UNSPECIFIED
Woods Hole Oceanographic InstitutionUNSPECIFIED
Subject Keywords:acoustic, autonomous underwater vehicles, low grade odometry, navigation, one way travel time
Record Number:CaltechAUTHORS:20180329-084738488
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180329-084738488
Official Citation:Claus B, Kepper JH IV, Suman S, Kinsey JC. Closed‐loop one‐way‐travel‐time navigation using low‐grade odometry for autonomous underwater vehicles. J Field Robotics. 2018;35:421–434. https://doi.org/10.1002/rob.21746
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85485
Collection:CaltechAUTHORS
Deposited By: Iryna Chatila
Deposited On:29 Mar 2018 18:01
Last Modified:23 May 2018 15:35

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