Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging

Autonomous Underwater Vehicles (AUVs) are platforms suitable for a wide variety of applications in the marine environment with economic and operational advantages. In these applications an AUV performs a given task as a mission. During the mission execution, the AUV will move around the environment...

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Detalles Bibliográficos
Autores: Menna, Bruno V., Villar, Sebastián, Acosta, Gerardo G.
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2020
País:Argentina
Institución:Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
Repositorio:CIC Digital (CICBA)
Idioma:inglés
OAI Identifier:oai:digital.cic.gba.gob.ar:11746/11070
Acceso en línea:https://digital.cic.gba.gob.ar/handle/11746/11070
Access Level:acceso abierto
Palabra clave:Ingenierías y Tecnologías
Autonomous Underwater Vehicles
Navigation System
Particle Filter
Robot Operating System
Particle Swarm Optimization
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spelling Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication rangingMenna, Bruno V.Villar, SebastiánAcosta, Gerardo G.Ingenierías y TecnologíasAutonomous Underwater VehiclesNavigation SystemParticle FilterRobot Operating SystemAutonomous Underwater VehiclesParticle Swarm OptimizationAutonomous Underwater Vehicles (AUVs) are platforms suitable for a wide variety of applications in the marine environment with economic and operational advantages. In these applications an AUV performs a given task as a mission. During the mission execution, the AUV will move around the environment following paths that allow it to fulfill the mission's objectives. To achieve this, a reliable Navigation System (NS) is required. In addition to this, the current operating concept includes the deployment of multiple AUVs on a given area, thus a communication system between vehicles is also required. In the underwater environment both navigation and communication systems deals with the particular characteristics of the medium that limits the use of conventional techniques. In this work, a complete NS for an AUV is presented. The developed NS is based on an inertial navigation scheme with velocity and position aiding. The position aiding takes advantage of the communication system onboard the vehicle, which avoids the use of additional positioning systems. The fundamentals of the applied solutions are described and experimental results and implementation details are provided. Also conclusions and future works are presented.2020-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfhttps://digital.cic.gba.gob.ar/handle/11746/11070enginfo:eu-repo/semantics/altIdentifier/doi/10.1109/IEEECONF38699.2020.9389432info:eu-repo/semantics/altIdentifier/isbn/978-1-7281-5446-6info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/4.0/reponame:CIC Digital (CICBA)instname:Comisión de Investigaciones Científicas de la Provincia de Buenos Airesinstacron:CICBA2024-05-10T10:38:43Zoai:digital.cic.gba.gob.ar:11746/11070Institucionalhttp://digital.cic.gba.gob.arOrganismo científico-tecnológicoNo correspondehttp://digital.cic.gba.gob.ar/oai/snrdmarisa.degiusti@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:94412024-05-10 10:38:43.744CIC Digital (CICBA) - Comisión de Investigaciones Científicas de la Provincia de Buenos Airesfalse
dc.title.none.fl_str_mv Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
title Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
spellingShingle Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
Menna, Bruno V.
Ingenierías y Tecnologías
Autonomous Underwater Vehicles
Navigation System
Particle Filter
Robot Operating System
Autonomous Underwater Vehicles
Particle Swarm Optimization
title_short Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
title_full Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
title_fullStr Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
title_full_unstemmed Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
title_sort Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging
dc.creator.none.fl_str_mv Menna, Bruno V.
Villar, Sebastián
Acosta, Gerardo G.
author Menna, Bruno V.
author_facet Menna, Bruno V.
Villar, Sebastián
Acosta, Gerardo G.
author_role author
author2 Villar, Sebastián
Acosta, Gerardo G.
author2_role author
author
dc.subject.none.fl_str_mv Ingenierías y Tecnologías
Autonomous Underwater Vehicles
Navigation System
Particle Filter
Robot Operating System
Autonomous Underwater Vehicles
Particle Swarm Optimization
topic Ingenierías y Tecnologías
Autonomous Underwater Vehicles
Navigation System
Particle Filter
Robot Operating System
Autonomous Underwater Vehicles
Particle Swarm Optimization
description Autonomous Underwater Vehicles (AUVs) are platforms suitable for a wide variety of applications in the marine environment with economic and operational advantages. In these applications an AUV performs a given task as a mission. During the mission execution, the AUV will move around the environment following paths that allow it to fulfill the mission's objectives. To achieve this, a reliable Navigation System (NS) is required. In addition to this, the current operating concept includes the deployment of multiple AUVs on a given area, thus a communication system between vehicles is also required. In the underwater environment both navigation and communication systems deals with the particular characteristics of the medium that limits the use of conventional techniques. In this work, a complete NS for an AUV is presented. The developed NS is based on an inertial navigation scheme with velocity and position aiding. The position aiding takes advantage of the communication system onboard the vehicle, which avoids the use of additional positioning systems. The fundamentals of the applied solutions are described and experimental results and implementation details are provided. Also conclusions and future works are presented.
publishDate 2020
dc.date.none.fl_str_mv 2020-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv https://digital.cic.gba.gob.ar/handle/11746/11070
url https://digital.cic.gba.gob.ar/handle/11746/11070
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/IEEECONF38699.2020.9389432
info:eu-repo/semantics/altIdentifier/isbn/978-1-7281-5446-6
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0/
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:CIC Digital (CICBA)
instname:Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
instacron:CICBA
instname_str Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
instacron_str CICBA
institution CICBA
reponame_str CIC Digital (CICBA)
collection CIC Digital (CICBA)
repository.name.fl_str_mv CIC Digital (CICBA) - Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
repository.mail.fl_str_mv marisa.degiusti@sedici.unlp.edu.ar
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score 15,81155

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