NDLI: Sonar aided high accuracy inertial navigation in a partially known environment

Content Provider	IEEE Xplore Digital Library
Author	Li, J.H. Lee, M.J. Kim, J.T. Park, S.H. Kim, J.G. Suh, J.H.
Copyright Year	2013
Description	Author affiliation: Appl. Technol. Div., Korea Inst. of Robot & Convergence (KIRO), Pohang, South Korea (Li, J.H.; Lee, M.J.; Kim, J.T.; Park, S.H.; Kim, J.G.; Suh, J.H.)
Abstract	P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes [1]. In its AUV mode, the vehicle is supposed to carry out some of underwater missions such as inspection and maintenance of complex underwater structures which are usually difficult to be done by ROV or divers due to the cable system. To complete these missions, the vehicle is required to have high level of autonomy, where high accuracy navigation is the most important and basic requirement. In this paper, we present a high accuracy of hybrid inertial navigation method using image sonar in a water tank environment. Various water tank experimental studies are carried out to investigate the effectiveness of presented hybrid navigation method. Some of practical issues of applying image sonar for inertial navigation aiding are also discussed.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	5
File Size	1816848
Page Count	5
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Sonar navigation Sonar measurements Storage tanks Vehicles Sensors Inertial navigation hybrid AUV image sonar hybrid inertial navigation autonomy
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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