Terrain Aided Navigation for Long Range AUV operations at arctic latitudes

Salavasidis, Georgios; Harris, Catherine A.; McPhail, Stephen; Phillips, Alexander B.; Rogers, Eric. 2016 Terrain Aided Navigation for Long Range AUV operations at arctic latitudes. In: 2016 IEEE/OES Autonomous Underwater Vehicles: AUV 2016. Richardson, TX, IEEE, 115-123.

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Abstract/Summary

This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.

Item Type:	Publication - Book Section
Digital Object Identifier (DOI):	10.1109/AUV.2016.7778658
Date made live:	31 Mar 2017 09:33 +0 (UTC)
URI:	https://nora.nerc.ac.uk/id/eprint/516732

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