Advanced Autonomous Underwater Vehicle Long Range Under-ice Navigation and Localization

所有加拿大人都受到以下工具研究的影响并从中受益：有助于洞察加拿大的冰下海洋及其与气候变化的联系；安全可靠的可通航北部水域；以及用于监测、巡逻和跟踪水下活动的长期设备，以维护加拿大的北极主权和防御。自主水下航行器(AUV)是负责在这三个领域工作的工具。在这三个方面的限制能力都是AUV在没有外部传感器辅助的情况下进行远距离导航和定位的能力。这还不存在到它应该存在的程度。拟议的研究计划的结果为实现这一目标奠定了重要里程碑。它提供了解决这些主题的变革性能力，并以前所未有的方式支持海洋部门。*为了让AUV充分实现其价值，在距离船只或操作员超过一臂的距离内操作，它们必须在没有船只或外部对AUV定位传感器的帮助的情况下在水下和冰下导航和定位长距离，这些都不是冰下的选择。由于惯性系统的位置误差随着行驶距离的增加而变得无限大，因此外部辅助是必要的。*通过同步定位和测绘(SLAM)，AUV将使用可以外部辅助的惯性传感器来导航未知区域。在执行任务期间，AUV构建地图并同时将自己定位在地图中，以便其测量传感器的测量具有地理参考。对于AUV，惯性导航受到外部位置辅助范围的限制，不能远离海床工作。这一解决方案限制了AUV的可能工作范围。*除了最先进的由外部传感器辅助的惯性导航SLAM之外，我的研究计划研究了由地球物理或地形导航辅助的无功能(抽象特征)SLAM，因为它更适合冰下环境。*类似于将GPS或声学定位辅助传感器与惯性导航相融合，先验地图中的地形辅助(水深)导航(TAN)特征被用来约束惯性传感器的位置误差增长。与水下惯性或声学导航方法不同，TAN方法不受作用范围或高度的限制。TAN是一种潜在的强大的远程冰下AUV导航和定位解决方案。*为了实现具有水深测量TAN的星载SLAM，建议研究的SLAM方法是姿势图。*

All Canadians are impacted by, and benefit from, research into tools that: contribute insight on Canada's under-ice oceans and their connection to changing climate; safe and secure navigable northern waters, and long duration devices to monitor, patrol and track underwater activity for Canadian Arctic sovereignty and defence. Autonomous underwater vehicles (AUV) are tools tasked to work in all three. The limiting capability in all three is the AUV ability to navigate and localize over long ranges unassisted by external sensors. This does not exist yet to the extent that it should. The outcomes of the proposed research program contribute important milestones towards this. It provides a transformational capability to address these topics and supports the ocean sector in an unprecedented way. *** *For AUVs to fully realize their value by operating at more than arms-length from a ship or operator, they must navigate and localize long distances underwater and under-ice without assistance from a ship or external-to-the-AUV positioning sensor which are not options under-ice. The external aiding is necessary as the positional error of inertial systems grown unbounded with distance travelled.*** With simultaneous localization and mapping (SLAM) the AUV will navigate an unknown area using inertial sensors which could be externally aided. During the mission, the AUV builds the map and concurrently localizes itself within it so its survey sensor measurements are geo-referenced. With AUVs, inertial navigation is limited by the range of the external positional aiding and cannot operate far from the seabed. This solution restricts the AUV operational range possible.*** Beyond the state-of-the art SLAM with inertial navigation aided by external sensors, my research program studies featureless (abstract features) SLAM with inertial navigation aided by geophysical or terrain navigation instead of external sensors as it better suits the under-ice environment. *Similar to fusing GPS or acoustic position aiding sensors with inertial navigation, terrain-aided (bathymetric) navigation (TAN) features in a priori maps are used to bound the position error growth of the inertial sensors. Unlike underwater inertial or acoustic navigation methods, TAN methods are not limited in operational range or altitude. TAN is a potentially powerful solution towards long range under-ice AUV navigation and localization. *To work towards on-board on-line SLAM with bathymetric TAN, the SLAM method favored for the proposed research is pose-graph. *** ******