Holographic navigation

Author

Rikoski, Richard ; Brown, Daniel

Author_Institution

Naval Surface Warfare Center, Panama City, FL

fYear

2008

fDate

19-23 May 2008

Firstpage

73

Lastpage

80

Abstract

This paper presents a method for navigating relative to the sea floor using sonar imagery. The aspect dependent terrain recognition problem is addressed by generating acoustic holograms of the sea floor containing images of all aspects of interest. Grazing angle compensation is applied to reduce the required spatial sampling from planar to linear. Sonar images are coherently correlated with centimeter resolution to provide navigational updates. The technique is demonstrated using five short duration missions in St. Andrew Bay and three long duration missions, with a combined extent of 69.7 km, in the Gulf of Mexico.

Keywords

acoustic holography; mobile robots; navigation; sonar target recognition; underwater vehicles; Gulf of Mexico; St. Andrew Bay; acoustic holograms; aspect dependent terrain recognition; distance 69.7 km; grazing angle compensation; holographic navigation; marine robotics; sea floors; sonar imagery; spatial sampling; Frequency; Holography; Image recognition; Object recognition; Robots; Sea floor; Sonar detection; Sonar measurements; Sonar navigation; Synthetic aperture sonar;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543189

Filename

4543189