Underwater Vehicle Localization Using Range Measurements PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Underwater Vehicle Localization Using Range Measurements PDF full book. Access full book title Underwater Vehicle Localization Using Range Measurements.
| Author | : Georgios Papadopoulos |
| Publisher | : |
| Total Pages | : 83 |
| Release | : 2010 |
| Genre | : |
| ISBN | : |
Download Underwater Vehicle Localization Using Range Measurements Book in PDF, ePub and Kindle
This thesis investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor measurements to compute its trajectory. We present an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. We analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We investigate the convergence of NLS applied to the cooperative ASV/AUV localization problem. Though we show that the localization problem is non-convex, we propose an algorithm that under certain assumptions (the accumulative dead reckoning variance is much bigger than the variance of the range measurements, and that range measurement errors are bounded) achieves convergence by choosing initial conditions that lie in convex areas. We present experimental results for this approach and compare it to alternative state estimators, demonstrating superior performance.
| Author | : Jing Yan |
| Publisher | : Springer Nature |
| Total Pages | : 222 |
| Release | : 2021-11-01 |
| Genre | : Technology & Engineering |
| ISBN | : 9811660964 |
Download Autonomous Underwater Vehicles Book in PDF, ePub and Kindle
Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
| Author | : FRANCESCO. FANELLI |
| Publisher | : Springer |
| Total Pages | : 120 |
| Release | : 2019-06-04 |
| Genre | : |
| ISBN | : 9783030155988 |
Download Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles Book in PDF, ePub and Kindle
| Author | : Chao Gao |
| Publisher | : CRC Press |
| Total Pages | : 636 |
| Release | : 2019-08-21 |
| Genre | : Technology & Engineering |
| ISBN | : 0429016689 |
Download Cooperative Localization and Navigation Book in PDF, ePub and Kindle
This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
| Author | : Parth Pasnani |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 2020 |
| Genre | : |
| ISBN | : |
Download Long Range Underwater Navigation Using Gravity-Based Measurements Book in PDF, ePub and Kindle
The aim of this thesis is to demonstrate feasibility of a gravity-based system for long range underwater localization. Such a system is demonstrated, in simulations, with the use of particle filter-based localization and Rao-Blackwellized particle filter SLAM (simultaneous localization and mapping). This system allows an autonomous underwater vehicle (AUV) to operate submerged for extended periods without the use of an active sensor, thus widening the variety of missions that an AUV can be tasked with. Additionally, this thesis demonstrates how information theory techniques can be used to plan a path through a region such that SLAM data association within that region is improved thus improving the performance of SLAM. The results from this work also indicate that characteristic value can be used to evaluate the "SLAMability" of an environment. Combining the characteristic value with information theory techniques improves the performance of SLAM at extended ranges enabling long range underwater localization.
| Author | : David Ribas |
| Publisher | : Springer |
| Total Pages | : 152 |
| Release | : 2010-07-28 |
| Genre | : Technology & Engineering |
| ISBN | : 3642140408 |
Download Underwater SLAM for Structured Environments Using an Imaging Sonar Book in PDF, ePub and Kindle
Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.
| Author | : Neil Harvey Kussat |
| Publisher | : |
| Total Pages | : 162 |
| Release | : 2004 |
| Genre | : |
| ISBN | : |
Download Absolute Positioning of an Autonomous Underwater Vehicle Using GPS and Coustic Measurements Book in PDF, ePub and Kindle
| Author | : 詹雲如 |
| Publisher | : |
| Total Pages | : |
| Release | : 2018 |
| Genre | : |
| ISBN | : |
Download Observability Analysis of Autonomous Underwater Vehicles Using Range and Range-rate Measurements Book in PDF, ePub and Kindle
| Author | : Dugald Thomson |
| Publisher | : |
| Total Pages | : |
| Release | : 2012 |
| Genre | : |
| ISBN | : |
Download AUV Localization in an Underwater Acoustic Positioning System Book in PDF, ePub and Kindle
This thesis develops a Bayesian inversion algorithm for autonomous underwater vehicle localization, and carries out a study of several factors contributing to localization accuracy in an underwater acoustic positioning system. Specifically, a ray-based algorithm is described that estimates target position through the linearized inversion of transmission arrival time differences, and provides linearized uncertainty estimates for model parameters. Factors contributing to source localization uncertainty considered here included: (1) modelling transmission paths accounting for refraction due to a depth-varying SSP instead of using a constant sound-speed approximation and straight-line propagation, (2) inverting for a potential bias in the measured sound-speed profile, (3) accounting for errors in hydrophone position by including these positions as unknown parameters in the inversion, and (4) applying path-dependent timing correction factors to account for lateral variability in the sound-speed profile. In each case, nonlinear Monte Carlo analysis is applied in which a large number of noisy data sets are considered, to obtain statistical measures of the localization improvement that results by addressing these factors.
| Author | : Chrystel Gelin |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 113 |
| Release | : 2012-08-22 |
| Genre | : Technology & Engineering |
| ISBN | : 3642320155 |
Download A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing Book in PDF, ePub and Kindle
Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion methods, for a USV to aid in navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP). While ADCPs non-intrusively measure water flow, the vessel motion needs to be removed to analyze the data and the system developed provides the motion measurements and processing to accomplish this task.
