PID5639239 - Jimin Hwang.pdf (1 MB)
Development of error reduction model using Bayesian filter for AUV navigating under moving ice
conference contribution
posted on 2023-05-23, 13:48 authored by Hwang, J, Fan, S, Peter KingPeter King, Forrest, ADoppler Velocity Logs (DVL) can provide a simple under water navigation aid for Autonomous Underwater Vehicles (AUV) by measuring relative velocities with respect to the speed over ground. A valid reference velocity is difficult to calculate when this approach is applied under a moving frame of reference such as drifting ice. The primary challenge of under-ice localization is to accurately estimate the AUV location and its trajectory in the global coordinate system when DVL measurements are being made relative to a constantly drifting ice surface. In this paper, the author introduces and compares two types of error sources, scale factor error of DVL and navigation error due to ice drift. An error reduction model using a Bayesian filter algorithm is developed for improved estimations, in conjunction with a novel correction method for accurate AUV navigation under ice. The concept of shift factor is introduced in this paper as the key to solve both error sources. Having the knowledge of the true beacon location, shift factors in vector quantity are extracted based on the collected relative velocity profiles by DVL. The shift factors are directly applied to update the final AUV location. The result presents approximately 70.8% of maximum error reduction. The impact of survey pattern, bearing angle to the beacon, pinging frequency on the accuracy of the vehicle localisation are discussed.
History
Publication title
Proceedings of the 2018 IEEE OES Autonomous Underwater Vehicle SymposiumPagination
1-6ISBN
9781728102535Department/School
Australian Maritime CollegePublisher
IEEEPlace of publication
United StatesEvent title
2018 IEEE OES Autonomous Underwater Vehicle SymposiumEvent Venue
Porto, PortugalDate of Event (Start Date)
2018-11-06Date of Event (End Date)
2018-11-09Rights statement
Copyright 2018 IEEERepository Status
- Restricted