Towards Bathymetry-Optimized Doppler Re-Navigation for AUVs
dc.contributor.author | Eustice, Ryan M. | en_US |
dc.contributor.author | Camilli, Richard | en_US |
dc.contributor.author | Singh, Hanumant | en_US |
dc.date.accessioned | 2011-08-18T18:24:37Z | |
dc.date.available | 2011-08-18T18:24:37Z | |
dc.date.issued | 2005-09-17 | en_US |
dc.identifier.citation | Eustice, R.; Camilli, R.; Singh, H. (2005). "Towards Bathymetry-Optimized Doppler Re-Navigation for AUVs." Proceedings of the IEEE/MTS OCEANS Conference and Exhibition: 1430-1436. <http://hdl.handle.net/2027.42/86050> | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/86050 | |
dc.description.abstract | This paper describes a terrain-aided re-navigation algorithm for autonomous underwater vehicles (AUVs) built around optimizing bottom-lock Doppler velocity log (DVL) tracklines relative to a ship derived bathymetric map. The goal of this work is to improve the precision of AUV DVLbased navigation for near-seafloor science by removing the lowfrequency “drift” associated with a dead-reckoned (DR) Doppler navigation methodology. To do this, we use the discrepancy between vehicle-derived vs. ship-derived acoustic bathymetry as a corrective error measure in a standard nonlinear optimization framework. The advantage of this re-navigation methodology is that it exploits existing ship-derived bathymetric maps to improve vehicle navigation without requiring additional infrastructure. We demonstrate our technique for a recent AUV survey of largescale gas blowout features located along the U.S. Atlantic margin. | en_US |
dc.publisher | IEEE | en_US |
dc.title | Towards Bathymetry-Optimized Doppler Re-Navigation for AUVs | en_US |
dc.type | Article | en_US |
dc.subject.hlbsecondlevel | Naval Architecture and Marine Engineering | en_US |
dc.subject.hlbtoplevel | Engineering | en_US |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationother | Dept. of Applied Ocean Physics & Engineering Woods Hole Oceanographic Institution Woods Hole, MA 02543. | en_US |
dc.identifier.pmid | 16052945 | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/86050/1/reustice-30.pdf | |
dc.identifier.doi | 10.1109/OCEANS.2005.1639956 | en_US |
dc.identifier.source | Proceedings of the IEEE/MTS OCEANS Conference and Exhibition | en_US |
dc.owningcollname | Electrical Engineering and Computer Science, Department of (EECS) |
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