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A model aided inertial navigation system with a low acoustic signature for localization of surveillance AUVs
Citation
Choi, B and Randeni P, SAT and Fan, S and Forest, A, A model aided inertial navigation system with a low acoustic signature for localization of surveillance AUVs, Journal of Ocean Technology, 13, (3) pp. 53-64. ISSN 1718-3200 (2018) [Refereed Article]
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Copyright Statement
Copyright 2018 Journal of Ocean Technology
Official URL: https://www.thejot.net/archive-issues/?id=60
Abstract
Localization and navigation systems with a lower acoustic signature is a requisite for
autonomous underwater vehicles (AUVs) carrying out surveillance operations, which is a
challenging task due to limited availability of sensors. Utilizing inertial navigation systems
(INSs) is one of the options, although it still presents a certain degree of position drift, even with
a high-grade INS. This study investigates the capability of a model-aided inertial navigation
system (MA-INS) with limited activation of Doppler velocity log (DVL) acoustic sensor
to localize AUVs. Employing a Kalman filter (KF) data fusion algorithm, the acceleration
measurements from the INS and the vehicle velocities predicted by a motion response predicting
mathematical model were combined with intermittent DVL measurements. The acoustic
signature was reduced while maintaining a reliable localization accuracy. These findings show
that localization of surveillance AUVs can be conducted by the MA-INS algorithm with a
minimized DVL usage. As the DVL operating time could be controlled by the DVL application
schemes, the algorithm could be optimized depending on the planned routes of AUV during
the field trial. However, considerable investigation may be needed to obtain highly accurate
localization solution using non-acoustic sensors. For future work, it is recommended to
impeccably restrain the use of DVL for the localization, in order to secure the concealment of
AUV from detection.
Item Details
| Item Type: | Refereed Article |
|---|---|
| Keywords: | autonomous underwater vehicle, dynamic modeling, control and estimation, localization algorithm, mathematical model aided inertial navigation system, surveillance AUV |
| Research Division: | Engineering |
| Research Group: | Communications engineering |
| Research Field: | Signal processing |
| Objective Division: | Defence |
| Objective Group: | Defence |
| Objective Field: | Intelligence, surveillance and space |
| UTAS Author: | Choi, B (Mr Byungjun Choi) |
| UTAS Author: | Fan, S (Dr Shuangshuang Fan) |
| ID Code: | 129542 |
| Year Published: | 2018 |
| Deposited By: | NC Maritime Engineering and Hydrodynamics |
| Deposited On: | 2018-12-05 |
| Last Modified: | 2019-01-07 |
| Downloads: | 33 View Download Statistics |
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