AUV active perception: Exploiting the water column

Munafo, Andrea; Ferri, Gabriele; LePage, Kevin D.; Goldhahn, Ryan. 2017 AUV active perception: Exploiting the water column. In: OCEANS 2017, Aberdeen, 19-22 June 2017.

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Abstract/Summary

Autonomous Underwater Vehicles (AUVs) present a low-cost alternative or supplement to existing underwater surveillance networks. The NATO STO Centre for Maritime Research and Experimentation is developing collaborative autonomous behaviours to improve the performance of multi-static networks of AUVs. In this work we lay the foundation to combine a range-dependent acoustic model with a three dimensional measurement model for a linear array within a Bayesian framework. The resulting algorithm is able to provide the vehicles with an estimation of the target depth together with the more usual information based on a planar assumption (i.e. target latitude and longitude). Results are shown through simulations and as obtained from the REP16 sea trial where for the first time a preliminary implementation of the method was deployed in the C-OEX vehicles.

Item Type:	Publication - Conference Item (Paper)
Digital Object Identifier (DOI):	10.1109/OCEANSE.2017.8084764
Date made live:	11 Apr 2018 14:24 +0 (UTC)
URI:	https://nora.nerc.ac.uk/id/eprint/519806

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