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Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on

Date 21-21 Aug. 1998

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Displaying Results 1 - 19 of 19
  • Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290)

    Publication Year: 1998
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  • Acoustic positioning systems. A practical overview of current systems

    Publication Year: 1998, Page(s):5 - 17
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (984 KB)

    There are existing commercial sources that provide acoustic positioning systems with some capability to navigate unmanned underwater vehicles (UUVs). Some of these systems can be applied to autonomous underwater vehicles (AUVs). Systems are currently available to provide full ocean depth positioning to an absolute accuracy of 5 m and a relative accuracy of <2 m. Also available from these and ot... View full abstract»

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  • Inertial sensor technology trends

    Publication Year: 1998, Page(s):55 - 62
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1512 KB)

    This paper presents the status of inertial sensor technology in underwater navigation applications, followed by a prediction of where inertial instrument technology is heading and in which applications the future sensor technologies will find a niche. Many kinds of sensors have been developed. The GPS is cheap and ubiquitous, but it is uncertain whether it would be continuously available in milita... View full abstract»

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  • 3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping

    Publication Year: 1998, Page(s):191 - 200
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2488 KB)

    A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUV and ROV near the ocean bottom. The sea-floor images, acquired by a down-look camera installed on the vehicle, are processed by the vision system in order to detect and estimate its motion in real time. This information is utilized to realize a number of capabilities, including autom... View full abstract»

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  • An integrated GPS/INS navigation system for small AUVs using an asynchronous Kalman filter

    Publication Year: 1998, Page(s):43 - 49
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    A small AUV navigation system (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The paper reports improvements to the SANS hardware, latest testing res... View full abstract»

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  • Acoustic positioning systems. New concepts-the future

    Publication Year: 1998, Page(s):103 - 110
    Cited by:  Papers (7)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    A clear definition of the applications and accuracies required to navigate AUV will have to be completed prior to defining future developments within acoustic positioning systems. This paper discusses these applications and then estimates the positioning accuracy and market size for these operations. Beyond these estimates a discussion of system development trends including inverted long baseline,... View full abstract»

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  • Demonstration of a vision-based dead-reckoning system for navigation of an underwater vehicle

    Publication Year: 1998, Page(s):185 - 189
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1228 KB)

    This paper describes a dead-reckoning navigation system for hover-capable underwater vehicles operating close to the ocean floor. Navigation is presented as an extension of underwater station-keeping and mosaicking. It combines real-time vision-processing to build a mosaic of the area of interest, an image-based user interface to specify desired vehicle locations, and vision-based dead-reckoning t... View full abstract»

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  • An aided navigation post processing filter for detailed seabed mapping UUVs

    Publication Year: 1998, Page(s):19 - 25
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    HUGIN is an untethered underwater vehicle (UUV) intended for bathymetric data collection for detailed seabed surveying. The HUGIN sensor suite, consisting of standard commercially available navigation sensors and a multibeam echosounder, is briefly presented. A Kalman filter based post processing integration of UUV sensors and survey vessel sensors is discussed. Resulting UUV position and heading ... View full abstract»

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  • Trends in inertial systems technology for high accuracy AUV navigation

    Publication Year: 1998, Page(s):63 - 73
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    Medium accuracy inertial systems of the 1 nautical mile per hour class, enjoyed significant acceptance in the market for land survey systems in the early 1970's-prior to the introduction of GPS. This occurred because such systems could be implemented with software that capitalized on “zero velocity updates” (ZUPTS) which enabled the resultant system to achieve real-time navigation accu... View full abstract»

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  • Incorporating environmental measurements in navigation

    Publication Year: 1998, Page(s):115 - 122
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    Extended missions in unknown regions present a significant navigational challenge for autonomous underwater vehicles (AUV). This paper investigates the long-term performance of a concurrent mapping and localization (CML) algorithm for the scenario of an AUV making observations of point features in the environment with a forward look sonar. Simulation results demonstrate that position estimates wit... View full abstract»

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  • The Doppler inertial acoustic system for littoral navigation (DIAS)

    Publication Year: 1998, Page(s):27 - 33
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (716 KB)

    The Doppler inertial acoustic system (DIAS) is a compact, low-power, inertially-aided Doppler velocity navigation system which was developed to enhance the navigation capabilities of an unmanned underwater vehicle (UUV) in search, reacquisition, and inspection applications. Based on experience gained in the employment of long-baseline acoustic navigation approach using the divers acoustic navigati... View full abstract»

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  • Characteristics of a small low cost inertial measurement unit

    Publication Year: 1998, Page(s):75 - 87
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1100 KB)

    The HG1700 Inertial Measurement Unit (IMU) was developed to provide low cost inertial measurement products for air-to-air missiles and air-to-surface weapons. The HG1700 IMU uses low cost miniature tactical grade ring laser gyros and linear accelerometer inertial sensors. Since the IMU was initially introduced as a production item in 1994, it has been selected by each Department of Defense service... View full abstract»

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  • Making difficult decisions autonomously: the impact of integrated mapping and navigation

    Publication Year: 1998, Page(s):123 - 132
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1036 KB)

    The role of navigation is changing. The forces of increased autonomy, less prior knowledge, and larger missions are extending the navigation problem from the requirement of absolute localization to the larger question of context determination. Current technologies are inadequate in the face of such circumstances. The key to an evolved navigation technology begins with the ability to reason, in an ... View full abstract»

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  • Online compensation of heading sensor bias for low cost AUVs

    Publication Year: 1998, Page(s):35 - 42
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Presents a study of the effects of compass bias on navigational accuracy of autonomous underwater vehicles. Low cost vehicle systems utilize a magnetometer, and Doppler sonar for dead reckoning, and a DGPS fix when surfaced. By learning the compass bias from a few DGPS fixes, the navigational errors can be bounded with only a small number of fixes. The study is conducted using the Florida Atlantic... View full abstract»

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  • Trends in acoustic velocity log technology at RD Instruments

    Publication Year: 1998, Page(s):89 - 101
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1560 KB)

    RD Instruments (RDI) has been the leading manufacturer of acoustic Doppler current profilers (ADCP) for many years. Sales of our products for use primarily as navigation sonars or Doppler velocity logs (DVL) have been limited until recently by issues of size, weight, and cost. In 1995, RDI introduced the Workhorse product line which dramatically reduced the size, weight, and cost of ADCPs. This wa... View full abstract»

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  • Concurrent mapping and localization with FLS

    Publication Year: 1998, Page(s):133 - 148
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1544 KB)

    The topic of concurrent mapping and localization (CML) using a forward look sonar (FLS) is addressed. In many AUV applications, artificial beacons are employed for long duration positioning, or Global Positioning System (GPS) data are used to provide navigation resets. There are numerous missions where these constraints are undesirable and it is the aim of CML to provide relative position by extra... View full abstract»

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  • Using the ST725 sonar for AUV feature based navigation and correction

    Publication Year: 1998, Page(s):149 - 166
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (968 KB)

    This paper reports on a previous experimental investigation of the Tritech ST725 high resolution sonar system used onboard the NPS Phoenix and a possible extension of the results to an underwater feature based navigation and correction system. The ST725 sonar was used in progressively complex static environments to clearly image objects. Scanline analysis of the ST725 data was conducted and shown ... View full abstract»

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  • Precision gravity gradiometer/AUV system

    Publication Year: 1998, Page(s):167 - 174
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    Unprecedented stealth in navigation at sea, both long and short term, is now achievable through the integration of a gradiometer/gravimeter inertial navigation system into an appropriate submersible platform. Several key accomplishments have advanced the technology of gravity and gradiometry. Highly accurate gradiometer tensor measurements of 1.0 Eotvos or better were made at sea using a fully int... View full abstract»

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  • GIB buoys: an interface between space and depths of the oceans

    Publication Year: 1998, Page(s):181 - 184
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    Unmanned underwater vehicles having no umbilical can be successfully used for defense and commercial applications only if answers are found to the two most critical technical challenges: accurate positioning, and communications at a reasonable cost. The author states that, as new OEM GPS receivers achieve metric accuracy, LEO satellites will soon offer real-time two-way data communications anywher... View full abstract»

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