Estimation Approach for AUV Navigation Using a Single Acoustic Beacon

• Type: Article in International Scientific Journal
• Date: 2010

Authors

Bruno Ferreira (Author) Other; Anibal Matos (Author) FEUP; Nuno Cruz (Author) FEUP

Journal

Title: Sea Technology

Vol. 51

Pages: 54-59

ISSN: 0093-3651

Publisher: COMPASS PUBLICATIONS, INC

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 5 Citations

Scientific classification

FOS: Engineering and technology > Environmental engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6