The CommsNet 2013 experiment took place in September 2013 in the La Spezia Gulf, North Tyrrhenian Sea. Organized and scientifically led by the NATO S&T Org. Ctr. for Maritime Research and Experimentation (CMRE, formerly NURC), with the participation of several research institutions, the experiment included among its objectives the evaluation of on-board acoustic Ultra-Short Base Line (USBL) systems for navigation and localization of Autonomous Underwater Vehicles (AUVs). The ISME groups of the Universities of Florence and Pisa jointly participated to the experiment with one Typhoon class vehicle. This is a 300m depth rated AUV with acoustic communication capabilities originally developed by the two groups for archaeological search. The CommsNet 2013 Typhoon, equipped with an acoustic modem/USBL head, navigated within the fixed nodes acoustic network deployed by CMRE. This allows the comparison between inertial navigation, acoustic self-localization and ground truth represented by GPS signals (when the vehicle was at the surface). The preliminary results of the experiment show that the acoustic USBL self-localization is effective, and it has the potential to improve the overall vehicle navigation capabilities.
Typhoon at CommsNet 2013: experimental experience on AUV navigation and localization / Benedetto Allotta; Fabio Bartolini; Andrea Caiti; Riccardo Costanzi; Francesco Di Corato; Davide Fenucci; Jonathan Gelli; P. Guerrini; Niccolò Monni; Andrea Munafò; Marco Natalini; Luca Pugi; Alessandro Ridolfi; J.R. Potter. - ELETTRONICO. - (2014), pp. 1-6. (Intervento presentato al convegno The 19th World Congress of the International Federation of Automatic Control: Promoting automatic control for the benefit of humankind tenutosi a Cape Town, South Africa nel 24-29 August 2014).
Typhoon at CommsNet 2013: experimental experience on AUV navigation and localization
ALLOTTA, BENEDETTO;BARTOLINI, FABIO;GELLI, JONATHAN;MONNI, NICCOLO';PUGI, LUCA;RIDOLFI, ALESSANDRO;
2014
Abstract
The CommsNet 2013 experiment took place in September 2013 in the La Spezia Gulf, North Tyrrhenian Sea. Organized and scientifically led by the NATO S&T Org. Ctr. for Maritime Research and Experimentation (CMRE, formerly NURC), with the participation of several research institutions, the experiment included among its objectives the evaluation of on-board acoustic Ultra-Short Base Line (USBL) systems for navigation and localization of Autonomous Underwater Vehicles (AUVs). The ISME groups of the Universities of Florence and Pisa jointly participated to the experiment with one Typhoon class vehicle. This is a 300m depth rated AUV with acoustic communication capabilities originally developed by the two groups for archaeological search. The CommsNet 2013 Typhoon, equipped with an acoustic modem/USBL head, navigated within the fixed nodes acoustic network deployed by CMRE. This allows the comparison between inertial navigation, acoustic self-localization and ground truth represented by GPS signals (when the vehicle was at the surface). The preliminary results of the experiment show that the acoustic USBL self-localization is effective, and it has the potential to improve the overall vehicle navigation capabilities.File | Dimensione | Formato | |
---|---|---|---|
IFAC14_0783_FI_paper_DEF.pdf
Accesso chiuso
Tipologia:
Versione finale referata (Postprint, Accepted manuscript)
Licenza:
Tutti i diritti riservati
Dimensione
1.14 MB
Formato
Adobe PDF
|
1.14 MB | Adobe PDF | Richiedi una copia |
I documenti in FLORE sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.