Relative navigation of an AUV using image-and-acoustic based profiling systems

Author

Kondo, Hayato ; Maki, Toshihiro ; Ura, Tamaki ; Nose, Yoshiaki ; Sakamaki, Takashi ; Inaishi, M.

Author_Institution

Fac. of Marine Technol., Tokyo Univ. of Marine Sci. & Technol.

Volume

3

fYear

2004

fDate

9-12 Nov. 2004

Firstpage

1330

Abstract

Autonomous Underwater Vehicles (AUVs) are suitable for ocean observation, since they can swim freely without an umbilical cable. There is a great demand for AUVs not only for wide area surveys, but also for condition surveys of artificial underwater structures. This paper proposes a real-time localization method for navigation that can obtain robust and autonomous observations by fusing data from multiple sensors. This method enables an AUV to localize itself in relation to underwater structures without any support systems except its own sensors. It was actually implemented using the testbed AUV "Tri-Dog 1" and verified by tank tests

Keywords

computerised navigation; oceanographic equipment; oceanographic techniques; remotely operated vehicles; sensor fusion; underwater vehicles; AUV; Tri-Dog 1; autonomous underwater vehicles; data fusion; image-and-acoustic based profiling systems; multiple sensors; ocean observation; real-time localization method; relative navigation; underwater structures; wide area surveys; Marine technology; Navigation; Oceans; Remotely operated vehicles; Sea surface; Sensor systems; Shape; Testing; Umbilical cable; Underwater structures;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04

Conference_Location

Kobe

Print_ISBN

0-7803-8669-8

Type

conf

DOI

10.1109/OCEANS.2004.1405774

Filename

1405774