AUV Navigation and Platform Development
Abstract
The long term goal for the navigation component of this work is to further the technology of autonomous underwater systems for ocean survey and minefield reconnaissance / mapping / neutralization. We wish to address the implementation and enhancement issues associated with applying advanced processing algorithms to a low-cost computing platform to provide a synergistic navigation solution given the size, power and cost constraints of small AUVs. The goal for the platform development component of this work is to provide next generation ultra modular mass produced mini AUV platforms for current and future sensor development and deployment. This particular project is aimed at improvements to low cost navigation systems using COTS equipment and extended Kalman filtering with sensor bias learning and compensation. Other related work includes the study of autonomous fault detection and compensation, as well as sea state learning for use in motion planning and oceanographic survey. The platform development objectives are (1) improved navigation and positioning capabilities using enhanced asynchronous Kalman filters together with fibre-optic gyros; (2) miniaturized body shape for optimizing launching and recovery operations; (3) docking and recharge mechanisms to support extended mission operations; (4) LBL position sensor for extended underwater navigation; (5) DVL for current profiling and bottom; (6) high-frequency side-scan sonar for bathymetry characterization; (7) phased array scanning sonar for low-resolution bathymetry and obstacle avoidance purposes.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 30, 1998
- Accession Number
- ADA569039
Entities
People
- Anthony J. Healey
- P. E. An
- Sam M. Smith
Organizations
- Florida Atlantic University