Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations

dc.contributor.author Jakuba, Michael V.
dc.contributor.author Roman, Christopher N.
dc.contributor.author Singh, Hanumant
dc.contributor.author Murphy, Christopher A.
dc.contributor.author Kunz, Clayton G.
dc.contributor.author Willis, Claire
dc.contributor.author Sato, Taichi
dc.contributor.author Sohn, Robert A.
dc.date.accessioned 2009-01-22T14:57:27Z
dc.date.available 2009-01-22T14:57:27Z
dc.date.issued 2008-05-19
dc.description Author Posting. © The Author(s), 2008. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 25 (2008): 861-879, doi:10.1002/rob.20250. en
dc.description.abstract The recent Arctic GAkkel Vents Expedition (AGAVE) to the Arctic Ocean’s Gakkel Ridge (July/August 2007) aboard the Swedish ice-breaker I/B Oden employed autonomous underwater vehicles (AUVs) for water-column and ocean bottom surveys. These surveys were unique among AUV operations to date in requiring georeferenced navigation in proximity to the seafloor beneath permanent and moving ice cover. We report results for long-baseline (LBL) acoustic navigation during autonomous under-ice surveys near the seafloor and adaptation of the LBL concept for several typical operational situations including navigation in proximity to the ship during vehicle recoveries. Fixed seafloor transponders were free-fall deployed from the ship for deep positioning. The ship’s helicopter collected acoustic travel times from several locations to geo-reference the transponders’ locations, subject to the availability of openings in the ice. Two shallow beacons suspended from the ship provided near-surface spherical navigation in ship-relative coordinates. During routine recoveries, we used this system to navigate the vehicles into open water near the ship before commanding them to surface. In cases where a vehicle was impaired, its position was still determined acoustically through some combination of its acoustic modem, the fixed seafloor transponders, the ship-deployed transponders, and an on-board backup relay transponder. The techniques employed included ranging adapted for a moving origin and hyperbolic navigation. en
dc.description.sponsorship Major funding for AGAVE was provided by the National Science Foundation (PP-0425838, ATM- 0428122), the National Aeronautics and Space Administration (Z601701), and the Woods Hole Oceanographic Institution. en
dc.format.mimetype application/pdf
dc.identifier.uri https://hdl.handle.net/1912/2704
dc.language.iso en_US en
dc.relation.uri https://doi.org/10.1002/rob.20250
dc.title Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations en
dc.type Preprint en
dspace.entity.type Publication
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