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Paper TuP211.2

Ridao, Pere (Universitat de Girona), Ribas, David (Universitat de Girona), Hernandez, Emili (Universitat de Girona), Rusu, Alexandru (Universitat de Girona)

USBL/DVL Navigation through Delayed Position Fixes

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics II" (TuP211), Tuesday, May 10, 2011, 15:40−15:55, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Marine Robotics, Localization, Sensor Fusion

Abstract

This paper proposes a navigation system for an Autonomous Underwater Vehicle (AUV) fusing dead reckoning navigation data, gathered on-board from a Doppler Velocity Log (DVL) and an Attitude Reference Heading System (AHRS), with absolute position fixes obtained from an Ultra-Short Base Line (USBL). The USBL is operated in a standard configuration, with the transponder onboard the AUV and the transceiver on the sea surface. Hence, position fixes are fed back to the AUV through an acoustic modem. An Extended Kalman Filter (EKF) is used for the Multi Sensor Data Fusion (MSDF). The clocks of the AUV and the USBL-computer are synchronized, and a bounded circular buffer of past vehicle poses is kept to project the received USBL position fix, to update the corresponding time step producing a delayed position fix. The method is validated using a data set gathered for a dam inspection task.

 

 

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