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    Mid-water current aided localization for autonomous underwater vehicles

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    Medagoda2015Mid-water Current Aided Localization for Autonomous Underwater Vehicles.pdf (18.40Mb)
    Date
    2015-12
    Author
    Medagoda, Lashika  Concept link
    Williams, Stefan B.  Concept link
    Pizarro, Oscar  Concept link
    Kinsey, James C.  Concept link
    Jakuba, Michael V.  Concept link
    Metadata
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    Citable URI
    https://hdl.handle.net/1912/8529
    As published
    https://doi.org/10.1007/s10514-016-9547-3
    Keyword
     AUV; ADCP; Underwater; Localization; Mid-water; Navigation 
    Abstract
    Survey-class Autonomous Underwater Vehi- cles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid- water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Cur- rent Profiler (ADCP) mode of the DVL during descent, along with data from other sensors, the method dis- cussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Map- ping (SLAM) and on descents up to 3km deep with the Sentry AUV.
    Description
    Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 40 (2016): 1207–1227, doi:10.1007/s10514-016-9547-3.
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    Suggested Citation
    Preprint: Medagoda, Lashika, Williams, Stefan B., Pizarro, Oscar, Kinsey, James C., Jakuba, Michael V., "Mid-water current aided localization for autonomous underwater vehicles", 2015-12, https://doi.org/10.1007/s10514-016-9547-3, https://hdl.handle.net/1912/8529
     

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