An underwater cooperative navigation scheme

Author

Nogueira, Michele ; Souza, J. ; Pereira, Fernando

Author_Institution

Dept. of Comput. Eng., Autom. Univ. Fed. do Rio Grande do Norte, Natal, Brazil

fYear

2013

fDate

10-14 June 2013

Firstpage

1

Lastpage

7

Abstract

In this article we present and discuss a cooperative localization and navigation system based on the Extended Kalman Filter specifically designed to meet the requirements of the underwater environment. These lead us to consider a SLAM-like scheme in which some other Autonomous Underwater Vehicles (AUVs) play the role of mobile environment features and range measurements are used as external data. Own “recent” navigation data and some minimal communicated data by other AUVs are used to consistently update pose estimates and error covariances of relevant vehicles. A number of simulation and experimental results are presented to illustrate the approach.

Keywords

Kalman filters; cooperative communication; covariance analysis; radionavigation; underwater acoustic communication; underwater vehicles; SLAM-like scheme; autonomous underwater vehicles; cooperative localization; error covariances; extended Kalman filter; mobile environment; navigation data; relevant vehicles; underwater cooperative navigation; underwater environment; Covariance matrices; Equations; Navigation; Simultaneous localization and mapping; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS - Bergen, 2013 MTS/IEEE

Conference_Location

Bergen

Print_ISBN

978-1-4799-0000-8

Type

conf

DOI

10.1109/OCEANS-Bergen.2013.6608182

Filename

6608182