Title :
Outlier rejection for autonomous acoustic navigation
Author :
Vaganay, Jerome ; Leonard, John J. ; Bellingham, James G.
Author_Institution :
Sea Grant Coll. Program, MIT, Cambridge, MA, USA
Abstract :
Navigation is a critical requirement for the operation of autonomous underwater vehicles (AUVs). In this paper we present acoustic navigation results for the Odyssey II AUV obtained by using a Kalman filter that integrates dead-reckoning with acoustic range measurements made to an array of acoustic beacons pre-deployed in the operating environment. Because spurious acoustic measurements due to multipath propagation are common, initialization and outlier rejection techniques are addressed. The navigation algorithm has been extensively tested by post-processing of real data acquired by Odyssey II during field operations in a variety of environments. These include the Charles River Basin, the Atlantic Ocean (1.5 km off the Florida coast), and the Pacific Ocean (375 km off the Oregon coast). Our results show improved performance over prior techniques based exclusively on fix computation and dead reckoning
Keywords :
Kalman filters; acoustic applications; computerised navigation; distance measurement; filtering theory; marine systems; mobile robots; Atlantic Ocean; Charles River Basin; Florida coast; Kalman filter; Odyssey II AUV; Pacific Ocean; USA; acoustic beacons; acoustic range measurements; autonomous acoustic navigation; autonomous underwater vehicles; dead-reckoning; multipath propagation; outlier rejection; spurious acoustic measurements; Acoustic arrays; Acoustic measurements; Acoustic propagation; Acoustic testing; Navigation; Oceans; Rivers; Sea measurements; Underwater acoustics; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506191
