NDLI: Subsea positioning by merging inertial and acoustic technologies

Content Provider	IEEE Xplore Digital Library
Author	Willemenot, E. Morvan, P.-Y. Pelletier, H. Hoof, A.
Copyright Year	2009
Description	Author affiliation: IXSEA, 55 Av. Auguste Renoir, 78160 Marly-Le-Roi, France (Willemenot, E.; Morvan, P.-Y.; Pelletier, H.; Hoof, A.)
Abstract	Inertial sensors have high data rate and smooth drifts, while acoustic positioning systems have low data rate and bounded errors. Merging the two technologies requires that the user can access (i) the knowledge of all error sources of both technologies, (ii) the detailed interfaces of the products, (iii) the technical keys and the funding for the calibration of the coupling. By doing this once for all, IXSEA provides innovative fused solutions “off the shelf” for the benefit of the users. The fully portable high performance USBL “GAPS” has an embedded inertial system, with pre-calibration of misalignments at the factory. It offers new and unprecedented applications for ships of opportunity, buoys, shallow and very shallow water… in addition of a usual high end USBL. The technology of GAPS will be presented together with detailed applications where it makes the difference: shallow and very shallow water operations such as pipe survey, noisy environments like ploughing operations, positioning from a barge where traditional USBL cannot be calibrated, etc. Since the GAPS includes all the necessary technologies with pre-calibration of the system (USBL, INS inside for the attitude and the position of the antenna, GPS, embedded computation of data), it makes it a fully plug&play solution. The performance is the following: 4000m range, 0.2% of range for the position accuracy, acoustic head aperture of 200 degrees. For applications where smoothness, accuracy, and ease of use are even more stringent, a new concept called RAMSES will be presented. RAMSES is a Range Navigation System with positioning data fusion engine. It can be coupled to an Inertial Navigation System. It is able to stabilize the drift of the INS just by dropping a single transponder on the seafloor at unknown position, with no calibration of any kind. The coupling technology comes from robotics, and is called SLAM (Simultaneous Localization and Mapping). This technique has been adapted to subsea positioning. The main applications will be presented: AUV survey (traditional or very large one), pipe route survey, stringent ROV positioning and navigation. A new way of thinking is now possible in reducing transponder deployment. RAMSES is tolerant to acoustic shadows; there is no calibration of the transponder array. In the case of an AUV, the users generally have an INS and a DVL. Just by plugging a RAMSES to the positioning system, it allows to perform a straight line survey of hundreds of kilometres with just one beacon every 10 kilometres, keeping a positioning accuracy of around 10m. For this application, the positions of the beacons just have to be known thanks to GPS when deployed from helicopter or from ship. The INS drift is then automatically reset when the AUV comes into the range of a beacon (4000m range).
Starting Page	1
Ending Page	8
File Size	1074044
Page Count	8
File Format	PDF
ISBN	9781424425228
DOI	10.1109/OCEANSE.2009.5278162
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-11
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Merging Calibration Transponders Marine vehicles Global Positioning System Navigation Simultaneous localization and mapping Sensor systems Acoustic sensors Production facilities
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

Inertial Navigation aided by Simultaneous Localization and Mapping

Inertial Navigation Aided by Vision-Based Simultaneous Localization and Mapping

Underwater Model-Based Processing for SLAM and Environment Characterization

GAPS, a new concept for USBL [Global Acoustic Positioning System for Ultra Short Base Line positioning]

Geophysical navigation technologies and applications

Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration

The Potential for Subsea Positioning and Control

En-route Alignment and Calibration of SINS by Celestial Observation and Distinctiveness of Free Fall Trajectory

Seamless indoor-outdoor navigation for unmanned multi-sensor aerial platforms

Subsea positioning by merging inertial and acoustic technologies

Similar Documents

Inertial Navigation aided by Simultaneous Localization and Mapping

Inertial Navigation Aided by Vision-Based Simultaneous Localization and Mapping

Underwater Model-Based Processing for SLAM and Environment Characterization

GAPS, a new concept for USBL [Global Acoustic Positioning System for Ultra Short Base Line positioning]

Geophysical navigation technologies and applications

Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration

The Potential for Subsea Positioning and Control

En-route Alignment and Calibration of SINS by Celestial Observation and Distinctiveness of Free Fall Trajectory

Seamless indoor-outdoor navigation for unmanned multi-sensor aerial platforms

Subsea positioning by merging inertial and acoustic technologies