Increasing persistent navigation capabilities for underwater vehicles with augmented terrain-based navigation
Increasing persistent navigation capabilities for underwater vehicles with augmented terrain-based navigation
复制标题
通过增强的基于地形的导航提高水下航行器的持久导航能力
作者：
G. M. Reis;Michael Fitzpatrick;Jacob Anderson;Jonathan Kelly;Leonardo Bobadilla;Ryan N. Smith
自主水下机器人精确、节能的导航定位方法一直是一个活跃的研究领域。尽管它们很重要，但海洋过程是时空动态的，它们的研究需要能够在水下长时间进行智能操纵和采样的飞行器。在本文中，我们提出了一种利用物理水域数据来增强基于地形的导航的新技术，以增强传统导航和定位方法的实用性。我们研究了这种增强方法在一系列部署区域上的构造，例如海洋和淡水湖。给出了自主水下航行器多次部署的现场试验数据并进行了分析。
Accurate and energy-efficient navigation and localization methods for autonomous underwater vehicles continues to be an active area of research. As interesting as they are important, ocean processes are spatiotemporally dynamic and their study requires vehicles that can maneuver and sample intelligently while underwater for extended durations. In this paper, we present a new technique for augmenting terrain-based navigation with physical water data to enhance the utility of traditional methods for navigation and localization. We examine the construct of this augmentation method over a range of deployment regions, e.g., ocean and freshwater lake. Data from field trials are presented and analyzed for multiple deployments of an autonomous underwater vehicle.