Toward underwater acoustic-based simultaneous localization and mapping. Experimental results with the Typhoon AUV at CommsNet13 sea trial

Author

Di Corato, Francesco ; Fenucci, Davide ; Caiti, Andrea ; Costanzi, Riccardo ; Monni, Niccolo ; Pugi, Luca ; Ridolfi, Alessandro ; Allotta, Benedetto

Author_Institution

Integrated Sys. Marine Env. & Centro Piaggio, Univ. of Pisa, Pisa, Italy

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

7

Abstract

An algorithmic framework and experimental results on acoustic self-localization and mapping for an AUV equipped with an USBL modem are reported. The methodology proposed is quite general and applicable to a wide range of AUV and of navigation needs; however, the results presented refer to the Typhoon AUV and to the experimental configuration as available in the CommsNet13 cruise, led by the NATO S&T Ctr. for Maritime Research and Experimentation. The obtained results show that, even with a low cost, inertial motion units, and in presence of hostile acoustic channel conditions, the approach is able to keep the navigation error bounded and within 3-4 times GPS accuracy.

Keywords

Global Positioning System; SLAM (robots); autonomous underwater vehicles; modems; path planning; underwater acoustic communication; wireless channels; CommsNet13 cruise; CommsNet13 sea trial; GPS accuracy; Maritime Research and Experimentation; NATO S&T Ctr; Typhoon AUV; USBL modem; hostile acoustic channel conditions; inertial motion units; navigation error; underwater acoustic-based SLAM; underwater acoustic-based simultaneous localization-and-mapping; Acoustic measurements; Acoustics; Global Positioning System; Mathematical model; Modems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003092

Filename

7003092