Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles

被引：94

作者：

Eustice, Ryan M. ^{[1
]}

Whitcomb, Louis L. ^{[1
]}

Singh, Hanumant ^{[2
]}

Grund, Matthew ^{[2
]}

机构：

[1] Johns Hopkins Univ, Dept Engn Mech, Baltimore, MD 21218 USA

[2] Woods Hole Oceanog Inst, Dept Appl Ocean Phys & Engn, Woods Hole, MA 02543 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

基金：

美国海洋和大气管理局; 美国国家科学基金会;

关键词：

D O I：

10.1109/ROBOT.2007.364134

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper reports recent experimental results in the development and deployment of a synchronous-clock acoustic navigation system suitable for the simultaneous navigation of multiple underwater vehicles. The goal of this work is to enable the task of navigating multiple autonomous underwater vehicles (AUVs) over length scales of O(100 km), while maintaining error tolerances commensurate with conventional long-baseline transponder-based navigation systems (i.e., O(1 m)), but without the requisite need for deploying, calibrating, and recovering seafloor anchored acoustic transponders. Our navigation system is comprised of an acoustic modem-based communication/navigation system that allows for onboard navigational data to be broadcast as a data packet by a source node, and for all passively receiving nodes to be able to decode the data packet to obtain a one-way travel time pseudo-range measurement and ephemeris data. We present results for two different field experiments using a two-node configuration consisting of a global positioning system (GPS) equipped surface ship acting as a global navigation aid to a Doppler-aided AUV. In each experiment, vehicle position was independently corroborated by other standard navigation means. Initial results for a maximum-likelihood sensor fusion framework are reported.

引用

页码：4257 / +

页数：3

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