scholarly journals Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships

2020 ◽  
Vol 10 (24) ◽  
pp. 9139
Author(s):  
Jonghoek Kim
Keyword(s):  
Autonomous Underwater Vehicle ◽  
A Priori ◽  
Underwater Vehicle ◽  
Vehicle Localization ◽  
Inertial Measurement ◽  
Localization Method ◽  
Long Time ◽  
Measurement Units ◽  
Source Level

This paper introduces the localization method of an Autonomous Underwater Vehicle (AUV) in environments (such as harbors or ports) where there can be passing ships near the AUV. It is assumed that the AUV can access the trajectory and approximate source level of a passing ship, while identifying the ship by processing the ship’s sound. This paper considers an AUV which can localize itself by integrating propeller and Inertial Measurement Units (IMU). Suppose that the AUV has been moving in underwater environments for a long time, under the IMU-only localization. To fix long-term drift in the IMU-only localization, we propose that the AUV localization uses sound measurements of passing ships whose trajectories are known a priori. As far as we know, this AUV localization method is novel in using sound measurements of passing ships of which the trajectories are known a priori. The performance of the proposed localization method is verified utilizing MATLAB simulations. The simulation results show significant estimation improvements, compared to IMU-only localization. Moreover, using measurements from multiple ships gives better estimation results, compared to the case where the measurement of a single ship is used.

A novel acquisition platform for long-term breathing frequency monitoring based on inertial measurement units

2020 ◽  
Vol 58 (4) ◽  
pp. 785-804 ◽  
Author(s):  
Ambra Cesareo ◽  
Emilia Biffi ◽  
David Cuesta-Frau ◽  
Maria G. D’Angelo ◽  
Andrea Aliverti
Keyword(s):  
Breathing Frequency ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Frequency Monitoring ◽  
Measurement Units

Conceptual Design and Key Technology Development of a Long-Range Underwater Vehicle Traveling Over Thousands Kilometers

2009 ◽  
Author(s):  
Hiroshi Yoshida ◽  
Sawa Takao ◽  
Tadahiro Hyakudome ◽  
Shojiro Ishibashi ◽  
Hiroshi Ochi ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Research And Development ◽  
Long Range ◽  
Autonomous Underwater Vehicle ◽  
Technology Development ◽  
Underwater Vehicle ◽  
Cell System ◽  
Polymer Electrolyte Fuel Cell ◽  
Power Sources ◽  
Long Time

The underwater platform which has enough ability to cruise globally and freely in vast deep sea will allow us to make the survey of entire oceans. We aim to develop an underwater platform which travels and surveys across entire oceans for the research into the global change, ocean-trench earthquake, and biodiversity and so on. We have developed the first prototype underwater platform or the long-range cruising autonomous underwater vehicle (LCAUV) named Urashima since 1998. The vehicle powered by a polymer electrolyte fuel cell system marked the world record of cruising distance of 317 kilometers in 2005. The vehicle has the following specifications: length; 10 m, weight; 10 tons, maximum depth ratings; 3500 m, maximum cruising speed; 3.2 knots, and endurance; 60 hours. This large vehicle has large user payload of a few hundreds kilograms. In 2007, we started research and development of the elemental technologies which will be utilizes for development of the second generation LCAUV to achieve cruising range of over 3000 kilometers. The technologies under research and development are power sources, navigation methods, communication methods, vehicle controllers, materials for body, and advanced sensors for highly resolution survey. The fuel cell and secondary battery hybrid system is had to improve at energy efficiency to generate electricity as possible for long time running with limited energy. A high accuracy inertial navigation system and an underwater positioning system being covered area of over 1000 km are under development. A synthesized aperture sonar is also under development.

scholarly journals A Research on the Simultaneous Localization Method in the Process of Autonomous Underwater Vehicle Homing with Unknown Varying Measurement Error

2019 ◽  
Vol 9 (21) ◽  
pp. 4614
Author(s):  
Lingyan Dong ◽  
Hongli Xu ◽  
Xisheng Feng ◽  
Xiaojun Han ◽  
Chuang Yu
Keyword(s):  
Measurement Error ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Gaussian Mixture ◽  
Statistical Characteristics ◽  
Observation System ◽  
Support Vector ◽  
Position Information ◽  
Localization Method ◽  
Working Distance

We propose an acoustic-based framework for automatically homing an Autonomous Underwater Vehicle (AUV) to the fixed docking station (F-DS) and mobile docking station (M-DS). The proposed framework contains a simultaneous localization method of AUV and docking station (DS) and a guidance method based on the position information. The Simultaneous localization and mapping (SLAM) algorithm is not available as the statistical characteristics of the measurement error of the observation system are unknown. To solve this problem, we propose a data pre-processing method. Firstly, the measurement error data of acoustic sensor are collected. Then, We propose a Variational Auto-Encoder (VAE) based Gaussian mixture model (GMM) for estimating the statistical characteristics of measurement error. Finally, we propose a support vector regression (SVR) algorithm to fit the non-linear relationship between the statistical characteristics of measurement error and its corresponding working distance. We adopt a guidance method based on line-of-sight (LOS) and path tracking method for homing an AUV to the fixed docking station (F-DS) and mobile docking station (M-DS). The lake experimental data are used to verify the performance of the localization with the estimated statistical characteristics of measurement error.

Landing Motion Simulation of Autonomous Underwater Lurk Vehicle

2011 ◽  
Vol 366 ◽  
pp. 444-446
Author(s):  
Peng Zhang ◽  
Bao Wei Song ◽  
Xiao Xu Du
Keyword(s):  
Rigid Body ◽  
High Performance ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Motion Simulation ◽  
Great Contribution ◽  
Military Application ◽  
New Type ◽  
Simulation Results

Autonomous underwater lurk vehicle is a new type of autonomous underwater vehicle, and the advantages of autonomous underwater lurk vehicle are intelligent, long-term working, covert, high-performance and recyclables, etc. It leads great contribution to the civilian and military application. In this paper, the frames were built first. Then, based on rigid body momentum and moment of momentum theorem, the dynamics equation of autonomous underwater lurk vehicle was built. At last, the landing motion of the autonomous underwater lurk vehicle was simulated. The simulation results show preliminarily that the autonomous underwater lurk vehicle can steady complete the required landing motion.

Cooperative Autonomous Underwater Vehicle localization

2010 ◽  
Author(s):  
Marcelo Borges Nogueira ◽  
Joao Borges Sousa ◽  
Fernando Lobo Pereira
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Vehicle Localization
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