Estimation Approach for AUV Navigation Using a Single Acoustic Beacon

• Tipo: Artigo em Revista Científica Internacional
• Data: 2010

Autores

Bruno Ferreira (Autor) Outra; Anibal Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Revista

Título: Sea Technology

Vol. 51

Páginas: 54-59

ISSN: 0093-3651

Editora: COMPASS PUBLICATIONS, INC

Indexação

ISI Web of Knowledge - 5 Citações

Scopus - 5 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia do ambiente

Outras Informações

ID Authenticus: P-003-0TY

Abstract (EN): The article presents an estimation approach for navigation of the Modular Autonomous Robot for Environment Sampling (MARES) autonomous underwater vehicle (AUV) based on the range to a single beacon deployed in the operation area. Faculty of Engineering of the University of Porto developed the MARES AUV. Typical MARES missions include environmental sampling and monitoring in which the vehicle sweeps a given area while collecting relevant data. The current localization system uses a long-baseline acoustic system based on two acoustic beacons mounted on surface buoys. Each beacon answers the AUV with an acoustic pulse after having been questioned by the AUV in the same way. The MARES AUV interprets sensor data and generates commands at a constant rate of 10 hertz. While measurements from the depth sensor and the compass are available at each time step, range measurements are performed at a lower frequency due to the speed of propagation of acoustic waves.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6