Publication Date:
2022-05-25
Description:
Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 40 (2016): 1207–1227, doi:10.1007/s10514-016-9547-3.
Description:
Survey-class Autonomous Underwater Vehi-
cles (AUVs) typically rely on Doppler Velocity Logs
(DVL) for precision localization near the seafloor. In
cases where the seafloor depth is greater than the DVL
bottom-lock range, localizing between the surface and
the seafloor presents a localization problem since both
GPS and DVL observations are unavailable in the mid-
water column. This work proposes a solution to this
problem that exploits the fact that current profile layers
of the water column are near constant over short time
scales (in the scale of minutes). Using observations of
these currents obtained with the Acoustic Doppler Cur-
rent Profiler (ADCP) mode of the DVL during descent,
along with data from other sensors, the method dis-
cussed herein constrains position error. The method is
validated using field data from the Sirius AUV coupled
with view-based Simultaneous Localization and Map-
ping (SLAM) and on descents up to 3km deep with the
Sentry AUV.
Description:
This work is supported in part by NCRIS IMOS, the
Australian Research Council (ARC), the New South
Wales Government and the Woods Hole Oceanographic
Institution.
Description:
2017-02-11
Keywords:
AUV
;
ADCP
;
Underwater
;
Localization
;
Mid-water
;
Navigation
Repository Name:
Woods Hole Open Access Server
Type:
Preprint
