Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles
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A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet ’13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface ’14 workshop, organized by the University of Zagreb.
KeywordsAUV Cooperation Localization Navigation
This work has been partially supported by the European project ARROWS, that has received funding from the European Unions Seventh Framework Programme for research, technological development and demonstration under grant agreement no 308724, and by the project THESAURUS (PAR FAS Regione Toscana, Linea di Azione 1.1.a.3). The help of the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE) for the CommsNet ’13 experiment, and of the University of Zagreb for the Breaking The Surface ’14 experiment are gratefully acknowledged. Finally, the authors wish to thank the Office of Naval Research Global—ONRG of the U.S. Navy for having funded the two weeks of sea trials in Israel (from June 17th to July 1st 2014 in Akko and Caesarea) and the Marine Archaeology Unit, Israel Antiquities Authority IAA for its supervision in this context.
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