NDLI: Analysis, verification and optimization of AUV navigation using underwater acoustic models

Content Provider	IEEE Xplore Digital Library
Author	Siddiqui, Salman I. Ludvigsen, Martin Dong, Hefeng
Copyright Year	2015
Description	Author affiliation: Department of Electronics and Telecommunications, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway (Siddiqui, Salman I.; Dong, Hefeng) \|\| Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology, NO-7491 Trondheim, Norway (Ludvigsen, Martin)
Abstract	Autonomous Underwater Vehicles (AUV) are becoming significant in many underwater applications due to accessibility, autonomous features and data collection functionalities. In order to achieve greater operational efficiency, there is a need of effective techniques for self-localization and tracking of the vehicles. In the current AUVs, long base line (LBL) techniques are used for localization. LBL techniques use acoustic ranging between the transponders (at known locations) and the AUVs. The acoustic signals are greatly affected by different underwater environment parameters, therefore it is necessary to study their impacts on the acoustic signal propagation. Some of the parameters include water column temperature, salinity, depth and source-receiver configuration. In this paper these environmental effects are studied using acoustic models and compared with the AUV data obtained from the experiment at the Trondheim Fjord in April 2015. The real data and the simulated data show good match which proves that the LBL acoustic signals are affected by the environment. An environmental parameter analysis is also presented, using the acoustic model, to show the effect of sound speed profile and transponder depth on the acoustic signals. The results show that the sound speed profile has great impact on acoustic signal propagation and the transponder depth should be selected based on the sound speed profile to achieve better performance. Therefore, the environmental parameters should be considered for effective path planning and optimizing the navigation performance of the AUV.
Starting Page	1
Ending Page	6
File Size	1336119
Page Count	6
File Format	PDF
ISBN	9780933957435
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Transponders Navigation Propagation losses Data models Acoustic propagation Trajectory
Content Type	Text
Resource Type	Article

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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
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