Enhancing Subsea Navigation Capabilities

该项目致力于通过研究和开发新技术来提高自主水下航行器（AUV）姿态估计的最新技术，以提高导航方法的可靠性和保真度。姿态估计是利用传感器数据估计车辆位置和姿态的过程。传统上，水下航行器的姿态估计是通过“航位推算”导航来实现的，这种导航策略依赖于多普勒速度日志（DVL）和惯性测量单元（IMU）数据。由于DVL和IMU数据的固有偏差，航位推算姿态估计会随着时间的推移而“漂移”，这意味着姿态估计误差随时间线性增长。这个NSERC赞助的项目的重点是使用2G机器人公司的相机，结合DVL和IMU数据来估计AUV的姿势。特别是，本科生、硕士、博士和博士后将研究1)如何使用视觉里程计来正确估计和消除DVL和IMU数据中的偏差，2)如何实现适用于小型auv的计算效率高的姿态估计解决方案，以及3)使用相机、DVL和IMU数据实现同步定位和映射（SLAM）算法，以改进姿态估计和定位。拟议研究的新颖之处在于使用2G Robotics最先进的相机和照明技术，可以使用单目和立体相机，否则无法在水下环境中与DVL和IMU数据一起使用。作为这项研究的一部分，HQP将在机器人平台上获得开发、实施和测试尖端导航算法的经验，2G机器人公司将获得相对于其他传感器供应商的竞争优势，加拿大在防盗机器人领域的声誉将大大提高。

This project focuses on advancing the state-of-the-art of autonomous underwater vehicle (AUV) pose estimation through research and development of new techniques to increase the reliability and fidelity navigation methodologies. Pose estimation is the process of estimating position and attitude of a vehicle using sensor data. Traditionally, pose estimation of an AUV is realized through "dead-reckoning" navigation, a navigation strategy that relies on doppler velocity log (DVL) and inertial measurement unit (IMU) data. Due to inherent bias in both DVL an IMU data, dead-reckoning pose estimation suffered from "drift" over time, meaning the pose estimation error grows linearly with time. The focus of this NSERC sponsored project is to use 2G Robotics' cameras in conjunction with DVL and IMU data to estimate the pose of an AUV. In particular, undergraduate, master's, PhD, and postdoctoral students will investigate 1) how to use visual odometry to correctly estimate and negate bias in DVL and IMU data, 2) how to realize a computationally efficient pose estimation solution suitable for smaller AUVs, and 3) implement a simultaneous localization and mapping (SLAM) algorithm using camera, DVL, and IMU data to improve both pose estimation and localization. The novelty of the proposed research lies in the use of 2G Robotics state of the art camera and lighting technology that enables the use of monocular and stereo cameras that, otherwise, cannot be used in the underwater environment in conjunction with DVL and IMU data. As part of this research, HQP at all levels will gain experience in developing, implementing, and testing cutting-edge navigation algorithms on robotic platforms, 2G Robotics will gain a competitive advantage relative to other sensor providers, and Canada's reputation in the burgling field of robots will be significantly enhanced.