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Development of error reduction model using Bayesian filter for AUV navigating under moving ice
Citation
Hwang, J and Fan, S and King, P and Forrest, A, Development of error reduction model using Bayesian filter for AUV navigating under moving ice, Proceedings of the 2018 IEEE OES Autonomous Underwater Vehicle Symposium, 06-09 November 2018, Porto, Portugal, pp. 1-6. ISBN 9781728102535 (2018) [Refereed Conference Paper]
 | PDF (2018 AUV Conference) 1Mb |
Copyright Statement
Copyright 2018 IEEE
Official URL: http://dx.doi.org/10.1109/AUV.2018.8729768
Abstract
Doppler 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.
Item Details
| Item Type: | Refereed Conference Paper |
|---|---|
| Keywords: | autonomous underwater vehicle, control and estimation, path planning and navigation, under-ice AUV navigation, Doppler Velocity Logs (DVLs), acoustic positioning system, single beacon, moving frame of reference, Bayesian filter algorithm, shift fact |
| 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: | Hwang, J (Miss Jimin Hwang) |
| UTAS Author: | Fan, S (Dr Shuangshuang Fan) |
| UTAS Author: | King, P (Mr Peter King) |
| ID Code: | 129579 |
| Year Published: | 2018 |
| Deposited By: | NC Maritime Engineering and Hydrodynamics |
| Deposited On: | 2018-12-07 |
| Last Modified: | 2019-09-05 |
| Downloads: | 17 View Download Statistics |
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