A method for terrain navigation of an AUV

Author

Nygren, Ingemar

Author_Institution

Swedish Defence Res. Agency, Stockholm, Sweden

Volume

3

fYear

2001

fDate

2001

Firstpage

1766

Abstract

The purpose of the paper is to describe a method for accurately determining the position of an autonomous underwater vehicle (AUV) in shallow waters. The method is conceptually simple. It involves measuring the seabed topography with a few sonar pings over a limited area by an ordinary bathymetric multibeam sonar. These measurements are then correlated with existing underwater maps. The paper deals with the positioning problem by an elementary theoretical discussion and then presents some results from a simulation study conducted with the Reson SeaBat 9001 multibeam bathymetric sonar. It also presents the results of a verification sea trial in a flat-bottom area using the same sonar

Keywords

Global Positioning System; Kalman filters; mobile robots; position control; probability; sonar; underwater vehicles; AUV; Reson SeaBat 9001 multibeam bathymetric sonar; autonomous underwater vehicle; ordinary bathymetric multibeam sonar; positioning problem; sea trial; seabed topography; shallow waters; terrain navigation; Area measurement; Inertial navigation; Missiles; Position measurement; Robustness; Sea measurements; Sonar measurements; Sonar navigation; Surfaces; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2001. MTS/IEEE Conference and Exhibition

Conference_Location

Honolulu, HI

Print_ISBN

0-933957-28-9

Type

conf

DOI

10.1109/OCEANS.2001.968101

Filename

968101