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| Content Provider | IET Digital Library |
|---|---|
| Author | Pailhas, Yan Capus, Chris Brown, Keith Petillot, Yvan |
| Abstract | The use of autonomous underwater vehicles for a variety of purposes is set to increase in the future. A key issue is accurate navigation, especially for survey applications large cumulative error are introduced by the various position sensors: accelerometer; Doppler velocity log; compass; inertial navigation sensors. Algorithms such as simultaneous localisation and mapping rely on accurate landmark recognition in order to correct the vehicle position. This study proposes a solution based on broadband sonar and passive artificial coded landmarks to improve the navigation. Through resolution of the wave equation for acoustic propagation in a multilayer concentric sphere, it is shown that there is a great diversity in the echo spectrum with only small changes in internal structure. This enables the design of a set of passive landmarks, which can be identified unambiguously, since each has a characteristic signature or spectral code when insonified with a broadband sonar. |
| Starting Page | 10 |
| Ending Page | 18 |
| Page Count | 9 |
| ISSN | 17518784 |
| Volume Number | 7 |
| e-ISSN | 17518792 |
| Issue Number | Issue 1, Jan (2013) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-rsn/7/1 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2011.0103 |
| Journal | IET Radar, Sonar & Navigation |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Accelerometer Accurate Landmark Recognition Acoustic Propagation Artificial Landmarks Design Autonomous Underwater Vehicle Broadband Sonar Cumulative Error Doppler Velocity Log Echo Spectrum Inertial Navigation Sonsor Multilayer Concentric Sphere Navigation Passive Artificial Coded Landmarks Passive Landmarks Position Sonsor Radio Navigation And Direction Finding Sensing Device And Transducers Sensor Sonar Underwater Simultaneous Localisation Underwater Simultaneous Mapping Underwater Vehicle Vehicle Position |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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