Sonar-based iceberg-relative navigation for autonomous underwater vehicles
Sonar-based iceberg-relative navigation for autonomous underwater vehicles
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DOI：
10.1016/j.dsr2.2010.11.005
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发表时间：
2011-06-01
影响因子：
3
通讯作者：
Rock, Stephen
中科院分区：
文献类型：
--
作者：
Kimball, Peter;Rock, Stephen
自主水下航行器（AUV）的冰山相对导航将为自由漂浮冰山的研究提供一种新的数据收集模式。与目前的数据收集方法相比，自主水下航行器提供了大大扩展的覆盖区域和连续采样。然而，由于冰山在惯性空间中平移和旋转，依靠惯性传感器的标准车辆导航方法无法提供冰山相对位置估计，本文提出了一种新的冰山相对车辆导航技术，它是现有地形相对导航技术的扩展。该技术包括一个映射步骤和定位步骤，其中每一个都被修改，在这里解释的平移和旋转的自由浮动icebergs.In映射步骤中，AUV环绕冰山在一个序列的恒定深度，收集冰山的淹没表面的多波束声纳图像。然后在后处理中通过将这些声纳数据从其相应的车辆位置（考虑到冰山运动）投影到固定到冰山的框架中来生成地图。在定位步骤中，AUV使用先前生成的地图，通过将传入的声纳距离与地图相关联，确定其相对于冰山的位置和方向。估计器的工作原理是保持明确的估计，不仅车辆的位置和方向，但也冰山的平移和旋转率通过惯性空间，从验证的概念，这种新的冰山相对AUV导航技术的现场演示的结果证明了可行性，既产生一个自洽的三维地图的移动冰山和本地化车辆的位置相对于该冰山。实验的数据是在斯科舍海的一个小冰山的环绕航行期间，使用安装在RVI B Nathaniel B Palmer侧面的侧视多波束声纳收集的。(C)2011爱思唯尔有限公司保留所有紧身衣。
Iceberg-relative navigation for autonomous underwater vehicles (AUVs) will enable a new mode of data collection for studies of free-floating icebergs. Compared to current data collection methods, autonomous underwater vehicles offer substantially expanded coverage area and continuous sampling. However, because icebergs translate and rotate through inertial space, standard vehicle navigation methods which rely on inertial sensors are unable to provide iceberg-relative position estimates.Presented here is a new iceberg-relative vehicle navigation technique which is an extension of existing work in terrain-relative navigation. The technique comprises a mapping step and localization step, each of which is modified here to account for the translation and the rotation of free-floating icebergs.In the mapping step, the AUV circumnavigates the iceberg at a sequence of constant depths, collecting multibeam sonar imagery of the iceberg's submerged surface. A map is then generated in post-processing by projecting these sonar data from their corresponding vehicle positions (accounting for iceberg motion) in a frame that is fixed to the iceberg. Overlapping sonar data from the beginning and end of a circumnavigation provide the information necessary to enforce self-consistency of the iceberg map.In the localization step, the AUV uses the previously generated map to determine its position and orientation with respect to the iceberg by correlating incoming sonar ranges with the map. The estimator works by maintaining explicit estimates not only of the vehicle position and orientation, but also of the iceberg translation and rotation rates through inertial space.Results from a proof-of-concept field demonstration of this new iceberg-relative AUV navigation technique prove the feasibility of both generating a self-consistent three-dimensional map of a moving iceberg and localizing a vehicle's position with respect to that iceberg. The data for the experiment were collected using a sideways looking multibeam sonar mounted on the side of the RVIB Nathaniel B Palmer during a circumnavigation of a small iceberg in the Scotia Sea. (C) 2011 Elsevier Ltd. All tights reserved.