NDLI: Localization algorithm for a fleet of three AUVs by INS, DVL and range measurements

Content Provider	IEEE Xplore Digital Library
Author	Allotta, B. Pugi, L. Costanzi, R. Vettori, G.
Copyright Year	2011
Description	Author affiliation: Mechatronics and Dynamic Modelling Lab (MDM Lab), Dept. Energy Engineering, University of Florence, Italy (Allotta, B.; Pugi, L.; Costanzi, R.; Vettori, G.)
Abstract	The strong research efforts undergone in Marine Robotics during the last two decades open great possibilities for maritime operations. Autonomous Underwater Vehicles (AUVs) take the crew away from dangerous situations at depths of sea, with available and cost-affordable technology. MDM Lab, the Laboratory of Mechatronics and Dynamic Modelling of the University of Florence, is partner of the Thesaurus project, funded by Regione Toscana, with the aim of designing a moderate-cost AUV, called Tifone, to be used, in swarm, for research and monitoring of archaeological sites. In this paper we propose a Localization Algorithm for a fleet of three vehicles and a surface support ship which employs several sensors. Each AUV is equipped with low-cost sensors such as IMU, magnetometer and depth sensor; two of them have an high accuracy velocity sensor such as the Doppler Velocity Log. Acoustic modems, used for communication between AUVs, can provide the time of flight from an AUV to an another one. The positions estimated with a Range-Based algorithm fuse with the ones estimated by INS&DVL, avoiding unbounded error growth in the position estimate of the AUVs.
Starting Page	631
Ending Page	636
File Size	265444
Page Count	6
File Format	PDF
ISBN	9781457711589
e-ISBN	9781457711596
DOI	10.1109/ICAR.2011.6088608
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	Estonia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Magnetometers Magnetoacoustic effects Acoustics Modems Magnetic sensors
Content Type	Text
Resource Type	Article

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