Pure range-only sub-sea SLAM
نویسندگان
چکیده
This paper is about using range-only data to navigate an autonomous underwater vehicle (AUV). We assume the vehicle is equipped with conventional long base line (LBL) transceiver which measures acoustic time of flights (TOFs) between vehicle and small submerged transponders. Using only range data and no prior information other than approximate water column depth, we solve for both transponder location and vehicle trajectory. Results are given using data from a AUV operating in shallow water. A ground truth comparison is made with surveyed transponder locations and trajectory estimates from an on board Doppler/Compass/LBL derived navigation filter.
منابع مشابه
An Approximate Bayesian Method for Simultaneous Localisation and Mapping
This paper describes a Bayesian formulation of the Simultaneous Localisation and Mapping (SLAM) problem. Previously, the SLAM problem could only be solved in real time through the use of the Kalman Filter. This generally restricts the application of SLAM methods to domains with straight-forward (analytic) environment and sensor models. In this paper the Sum-of-Gaussian (SOG) method is used to a...
متن کاملTowards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar
This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to an autonomous underwater vehicle (AUV). A constant-time SLAM algorithm offers computation independent of workspace size and is one key component in the development of truly autonomous agents. The real-time deployment of such a system would be a landmark achievement for the...
متن کاملSeasonal variability of size-classes of phytoplankton biomass in a sub-tropical embayment, Muscat, Sea of Oman
The contribution of three different cell size classes of picoplankton: 0.74-2 μm, nanoplankton:2–20 μm and microplankton, >20 μm of the phytoplankton population and their relationship to environmental conditions were studied over two annual cycles at one station in Bandar Khyran Bay, Sea of Oman, from May 2006 to August 2008. Nanoplankton was the most important class contributing 54.4% to tot...
متن کاملRobust Range-Only SLAM for Unmanned Aerial Systems
Range-only sensors, in contrast to bearingonly sensors or LIDAR sensors are sensors which only provides distance between two points but not bearing information. The reduced amount of information provided by this sensors makes their application in Simultaneous Localization and Mapping (SLAM) problems specially challenging due to the lack of information. The complexity of the problem becomes high...
متن کاملSecond Generation IMO Intact Stability Vulnerability Criteria and its Application to ships Navigating in Persian Gulf and Oman Sea
Second generation intact stability criteria for few past years had been under development by International Maritime Organization (IMO). Since the draft proposed amendments shall be amended to International code on Intact Stability (IS code 2008), new regulations shall enter into force for ships of length more than 24 meter. Generally second generation intact stability criteria (SGISC) refers to...
متن کامل