Sonar-based Iceberg-relative Auv Localization
نویسندگان
چکیده
This paper discusses the localization portion of a new iceberg-relative navigation technique for Autonomous Underwater Vehicles (AUVs). An estimator is presented which correlates incoming sonar range returns with an a-priori iceberg surface map in order to provide iceberg-relative AUV position and orientation estimates. The technique works by maintaining estimates not only of iceberg-relative AUV position and orientation, but also of the translational and rotational velocities of the iceberg itself. In addition to the a-priori iceberg surface map, required inputs to the estimator are measured inertial vehicle displacements and measured sonar range vectors from the vehicle to the iceberg. Details of a particle filter implementation of the estimator are provided along with example localization results. The example data were collected from the RVIB Nathaniel B Palmer during circumnavigation of an iceberg in the Scoita Sea. In the example results, the vehicle position with respect to the berg is estimated to within 2 m, and the iceberg translational and rotational velocities are estimated to within 20%.
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تاریخ انتشار 2009