Title :
Synchronous navigation of AUVs using WHOI micro-modem 13-bit communications
Author :
Crosbie, Brendan P. ; Anderson, Michael ; Wolbrecht, Eric ; Canning, John ; Edwards, Dean B.
Author_Institution :
Center for Intell. Syst. Res., Univ. of Idaho, Moscow, ID, USA
Abstract :
This paper presents the development and testing of a synchronous one-way travel time (OWTT) navigation system for autonomous underwater vehicles (AUVs). Synchronous OWTT navigation is important for multiple vehicle applications as it preserves the range update rate independent of fleet size. The presented approach is based on the use of ranges generated by 13-bit acoustic messages and an a priori temporal communications cycle. The accuracy of the 13-bit acoustic ranges was experimentally compared to independent ground truth measurements. In addition, the presented synchronous OWTT approach was successfully used for real-time navigation of an AUV in field testing. The results show comparable performance to traditional two-way travel time (TWTT) navigation.
Keywords :
acoustic signal processing; modems; oceanographic techniques; radionavigation; remotely operated vehicles; underwater vehicles; 13-bit acoustic messages; AUV; WHOI micromodem 13-bit communication; autonomous underwater vehicles; field testing; multiple vehicle application; priori temporal communication cycle; real time navigation; synchronous OWTT navigation; synchronous one way travel time navigation system; two way travel time navigation; Accuracy; Acoustic measurements; Acoustics; Clocks; Distance measurement; Navigation; Vehicles;
Conference_Titel :
OCEANS 2010
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-4332-1
DOI :
10.1109/OCEANS.2010.5664459
