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

先进自主水下航行器远程冰下导航和定位

• 批准号: RGPIN-2018-05486
• 负责人: Seto, Mae
• 金额: $ 3.93万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=760280
• 关键词: Advanced; Autonomous; Underwater; Vehicle; Long

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.

所有加拿大人都受到对工具的研究的影响，并受益于：对加拿大的冰底海洋及其与不断变化的气候的联系有所帮助；安全可靠的通航北部水域，以及长时间的持续设备，以监视，巡逻和跟踪加拿大北极主权和防御的水下活动。 自动驾驶水下车辆（AUV）是要在这三者中工作的工具。 这三个三个的限制能力是AUV能够在不辅助外部传感器的长范围内导航和定位的能力。 在应该的程度上，这还不存在。 拟议的研究计划的结果为此做出了重要的里程碑。 它提供了一种转型能力来解决这些主题并以前所未有的方式支持海洋部门。 为了使AUV通过从船上或操作员的武器长度上运行超过武器长度来充分实现其价值，他们必须在没有船舶或外部到AUV定位传感器的援助的情况下导航和定位较长的距离，这不是冰的选择。 需要外部辅助，因为惯性系统的位置误差与行进距离无限。 借助同时定位和映射（SLAM），AUV将使用可以在外部辅助的惯性传感器导航未知区域。 在任务期间，AUV构建地图并同时将其定位在其中，因此其调查传感器测量是地理参考的。 使用AUV，惯性导航受到外部位置辅助范围的限制，并且不能远离海床。 该解决方案限制了可能的AUV操作范围。 除了最先进的猛烈抨击以及由外部传感器提供帮助的惯性导航之外，我的研究计划研究毫无特色（抽象功能）猛击地球物理或地形导航的惯性导航，而不是外部传感器，而不是外部传感器，因为它更好地适合冰的环境。类似于使用惯性导航的融合GPS或声学位置辅助传感器，使用先验地图中的地形（测深）导航（TAN）导航（TAN）特征来绑定惯性传感器的位置误差生长。 与水下惯性或声学导航方法不同，TAN方法在操作范围或高度上不受限制。 TAN是针对远距离冰iuv导航和本地化的潜在强大解决方案。为了朝着在线大满贯进行测深棕褐色的努力，对拟议的研究的大满贯方法是姿势图。