Cooperative Navigation in a Team of Marine Robots for a Specific Ocean Mapping Mission

2015 ◽  
Vol 63 (5) ◽  
Author(s):  
Thomas Glotzbach ◽  
Sebastian Eckstein ◽  
Christoph Ament
Keyword(s):  
Acoustic Communication ◽  
Relative Navigation ◽  
Gps Measurements ◽  
Cooperative Navigation ◽  
Position And Orientation ◽  
Specific Scenario ◽  
Hil Simulation

AbstractThe estimation of position and orientation of underwater agents is the basis for control, guidance and mapping tasks. We present a solution for a team of submerged marine agents for a specific scenario. The concept takes advantage of the distribution of the single agents, with one of them at the surface to access GPS measurements. The submerged units use data from a USBL unit, local sensors, and acoustic communication and employ a set of filters to perform relative navigation. We will describe the concept and show results of HIL simulation as precondition for upcoming sea trials.

scholarly journals Cooperative Localization Method for AUV Using Acoustic Communication Measurement

2012 ◽  
Vol 4 ◽  
pp. 227-231 ◽  
Author(s):  
Li Chuan Zhang ◽  
Ming Yong Liu ◽  
Fu Bin Zhang
Keyword(s):  
Acoustic Communication ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Localization ◽  
Relative Location ◽  
Navigation Problem ◽  
Cooperative Navigation ◽  
Acoustic Device ◽  
Navigation Accuracy

In this paper, we propose an algorithm based on double acoustic measurement for cooperative navigation of multiple autonomous underwater vehicles. Research on cooperative navigation of AUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leader-follow structure, the leader AUV is equipped with high precision navigation system, and the follow AUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow AUV, the method may cause fault error solution. Double acoustic communication measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.

Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles

2016 ◽  
Vol 40 (7) ◽  
pp. 1229-1244 ◽  
Author(s):  
Benedetto Allotta ◽  
Andrea Caiti ◽  
Riccardo Costanzi ◽  
Francesco Di Corato ◽  
Davide Fenucci ◽  
...  
Keyword(s):  
Acoustic Communication ◽  
Field Experience ◽  
Cooperative Navigation

An Acoustic Communication Time Delays Compensation Approach for Master–Slave AUV Cooperative Navigation

2017 ◽  
Vol 17 (2) ◽  
pp. 504-513 ◽  
Author(s):  
Guangdi Xiao ◽  
Bo Wang ◽  
Zhihong Deng ◽  
Mengyin Fu ◽  
Yun Ling
Keyword(s):  
Acoustic Communication ◽  
Time Delays ◽  
Cooperative Navigation ◽  
Communication Time ◽  
Compensation Approach

scholarly journals Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying

2015 ◽  
Vol 32 (4) ◽  
pp. 387-393 ◽  
Author(s):  
Kwangwon Lee ◽  
Hyungjik Oh ◽  
Han-Earl Park ◽  
Sang-Young Park ◽  
Chandeok Park
Keyword(s):  
Formation Flying ◽  
Relative Navigation ◽  
Gps Measurements ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying
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