Geomagnetic and Bathymetry Based Navigation System for AUV
Abstract
Proposal Title: Geomagnetic and Bathymetry Based Navigation System for an AUV NEEC Technical POC: Rex Lawrence Topic Number: PC-01 NEEC Abstract (Publicly Releasable) Development of geomagnetic and bathymetry-based algorithms and their implementation on a REMUS 100 AUV, in support of improved INS plus DVL-based odometry of the vehicle is proposed. In consultation with NSWC-PC, two methods will be considered in stages. In the first stage, a method based on availability of onboard a priori maps of geomagnetic and bathymetric fields will be considered. Here, required path corrections to INS plus DVL based primary navigation will be made through measurement of the local bathymetry and magnetic fields using onboard sensors and matching them with the respective onboard maps. Building on this effort, in the second stage, we will explore application of geomagnetic and bathymetry-based simultaneous localization and mapping (SLAM) when a priori maps are unavailable. In this case, local maps of the geomagnetic field and bathymetry are developed using local onboard sensor-based measurements while the vehicle is underway. In both stages, a Kalman filter will be used to aid the navigation when the geomagnetic/bathymetry information is of inadequate resolution. Experiments will first be carried out to obtain geomagnetic and bathymetric data in the vicinity of FAU, SeaTech or at a preferred location. Ways to mitigate impact of electromagnetic noise due to AUV motors will be explored through consideration of sensor placement. Two REMUS 100 AUVs are available at FAU, together with a QuSpin total field magnetometer obtained under the previous NEEC effort with NSWC-PC. Students will be engaged in algorithm development, modeling and simulation, system integration, AUV operations, and hands-on testing and technology development. The project will involve 2 MS students, 2 undergraduates and 10 affiliated students supervised by the faculty mentor
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Mar 18, 2025
- Source ID
- N001742010017
Entities
People
- Manhar Dhanak
Organizations
- Florida Atlantic University
- United States Navy