An algorithmic framework and experimental results on acoustic self-localization and mapping for an AUV equipped with an USBL modem are reported. The methodology proposed is quite general and applicable to a wide range of AUV and of navigation needs; however, the results presented refer to the Typhoon AUV and to the experimental configuration as available in the CommsNet13 cruise, led by the NATO S&T Ctr. for Maritime Research and Experimentation. The obtained results show that, even with a low cost, inertial motion units, and in presence of hostile acoustic channel conditions, the approach is able to keep the navigation error bounded and within 3 - 4 times GPS accuracy.
Toward Underwater Acoustic-based Simultaneous Localization and Mapping. Experimental results with the Typhoon AUV at CommsNet13 Sea Trial / Francesco Di Corato; Davide Fenucci; Andrea Caiti; Riccardo Costanzi; Niccolò Monni; Luca Pugi; Alessandro Ridolfi; Benedetto Allotta. - ELETTRONICO. - (2014), pp. 1-7. (Intervento presentato al convegno OCEANS'14 MTS/IEEE St. John's Oceans: Where Challenge Becomes Opportunity tenutosi a Saint John's (Canada) nel 14-19 September 2014) [10.1109/OCEANS.2014.7003092].
Toward Underwater Acoustic-based Simultaneous Localization and Mapping. Experimental results with the Typhoon AUV at CommsNet13 Sea Trial
MONNI, NICCOLO';PUGI, LUCA;RIDOLFI, ALESSANDRO;ALLOTTA, BENEDETTO
2014
Abstract
An algorithmic framework and experimental results on acoustic self-localization and mapping for an AUV equipped with an USBL modem are reported. The methodology proposed is quite general and applicable to a wide range of AUV and of navigation needs; however, the results presented refer to the Typhoon AUV and to the experimental configuration as available in the CommsNet13 cruise, led by the NATO S&T Ctr. for Maritime Research and Experimentation. The obtained results show that, even with a low cost, inertial motion units, and in presence of hostile acoustic channel conditions, the approach is able to keep the navigation error bounded and within 3 - 4 times GPS accuracy.
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