Abstract
This paper gives the first results from a research programme that aims to develop efficient navigation techniques for long range Autonomous Underwater Vehicles (AUVs) conducting ocean basin transits using low power sensors. The results results relate to the development of and on-line and low power cooperative navigation scheme between an AUV and an Unmanned Surface Vehicle (USV), where the latter acts as an acoustic tether for localization error reduction. Most of the computations are executed on the USV in order to reduce the power requirements of the AUV. The methodology is assessed by numerical simulation, where the Dead Reckoning (DR) error is modelled using data obtained from field trials and the result show that considerable estimation error reduction is possible even in very deep water operations.
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It is assumed that the USBL reference frame coincides with AUV body frame.
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Acknowledgements
The authors would like to thank the Innovate UK (Autonomous Surface, Sub-surface Survey System project) and ROBOCADEMY (FP7 Marie Curie Programme ITN Grant Agreement Number 608096) for supporting this work.
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Salavasidis, G., Harris, C.A., Rogers, E., Phillips, A.B. (2016). Co-operative Use of Marine Autonomous Systems to Enhance Navigational Accuracy of Autonomous Underwater Vehicles. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_28
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DOI: https://doi.org/10.1007/978-3-319-40379-3_28
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