Using side scan sonar to relative navigation

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Miguel Pinto (Author) Other; Bruno Ferreira (Author) FEUP; Aníbal Matos (Author) FEUP; Nuno Cruz (Author) FEUP

Conference proceedings International

Title: OCEANS 2009, VOLS 1-3

Pages: 1538-1546

Oceans 2009 Conference

Biloxi, MS, OCT 26-29, 2009

Indexing

ISI Proceedings

ISI Web of Knowledge - 0 Citations

Scopus - 4 Citations

Scientific classification

FOS: Engineering and technology > Environmental engineering

Other information

Authenticus ID: P-003-RHF

Abstract (EN): This paper describes the interaction between the kinematic model of the AUV MARES and the measurement or observation of the environment through images obtained with a sonar. Three types of sonar are discussed in this paper: forward-look, side scan and multibeam - but the sonar used to develop this work was the side scan sonar. The type of observations and characteristics of the environment provided by the sonar are described here. The method which connects the sensory part of the vehicle with the observations from the sonar, was the Kalman filter (EKF). In this paper, we present two simulations of filters for two different characteristics. Both filters estimate the characteristics of the natural landmarks, creating an environment map, but both of them consider different states of the vehicle. Results of the simulation are obtained. The features that are considered are an underwater pipe on the floor and a vertical wall. A control loop for the vehicle that provides the capacity to move along the feature/landmark from a reference distance is also discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9