Dynamic model-aided localization of underwater autonomous gliders

Underwater autonomous gliders (UAG) such as Slocum electric gliders provide an effective platform and tool for marine and coastal scientists to conduct prolonged missions over weeks or months. However, localization of these gliders underneath ocean surface is challenging due to the lack of inexpensive, effective underwater positioning sensors. In this paper, we present a dynamic model-based localization scheme to improve the positioning estimation of UAG. The new localization approach is built on an experimentally validated dynamic model and fused with onboard depth and yaw angle sensor measurements. We compare and validate the proposed scheme with dead reckoning and the ground truth.

[1]  Naomi Ehrich Leonard,et al.  Coordinated control of an underwater glider fleet in an adaptive ocean sampling field experiment in Monterey Bay , 2010, J. Field Robotics.

[2]  O Hegrenaes,et al.  Model-Aided INS With Sea Current Estimation for Robust Underwater Navigation , 2011, IEEE Journal of Oceanic Engineering.

[3]  David M. Fratantoni,et al.  UNDERWATER GLIDERS FOR OCEAN RESEARCH , 2004 .

[4]  Fumin Zhang,et al.  Steady three dimensional gliding motion of an underwater glider , 2011, 2011 IEEE International Conference on Robotics and Automation.

[5]  Ralf Bachmayer,et al.  A mission planning system for the AUV “SLOCUM Glider” for the Newfoundland and labrador shelf , 2010, OCEANS'10 IEEE SYDNEY.

[6]  Edison Hudson,et al.  Ocean gliders - technology, economics drivers, and roadmap , 2011, OCEANS'11 MTS/IEEE KONA.

[7]  Christopher E. Ordonez,et al.  Obtaining absolute water velocity profiles from glider-mounted Acoustic Doppler Current Profilers , 2012, 2012 Oceans - Yeosu.

[8]  N. Mahmoudian,et al.  Approximate Analytical Turning Conditions for Underwater Gliders: Implications for Motion Control and Path Planning , 2010, IEEE Journal of Oceanic Engineering.

[9]  D. Smeed,et al.  Current measurements from autonomous underwater gliders , 2008, 2008 IEEE/OES 9th Working Conference on Current Measurement Technology.

[10]  Gaurav S. Sukhatme,et al.  Persistent ocean monitoring with underwater gliders: Adapting sampling resolution , 2011, J. Field Robotics.

[11]  Gaurav S. Sukhatme,et al.  Towards improving mission execution for autonomous gliders with an ocean model and kalman filter , 2012, 2012 IEEE International Conference on Robotics and Automation.

[12]  David R. Thompson,et al.  Spatiotemporal path planning in strong, dynamic, uncertain currents , 2010, 2010 IEEE International Conference on Robotics and Automation.

[13]  Mike Eichhorn,et al.  Solutions for practice-oriented requirements for optimal path planning for the AUV “SLOCUM Glider” , 2010, OCEANS 2010 MTS/IEEE SEATTLE.

[14]  Oscar Schofield,et al.  Slocum Gliders: Robust and ready , 2007, J. Field Robotics.

[15]  Naomi Ehrich Leonard,et al.  Model-based feedback control of autonomous underwater gliders , 2001 .

[16]  Joshua Grady Graver,et al.  UNDERWATER GLIDERS: DYNAMICS, CONTROL AND DESIGN , 2005 .

[17]  D. C. Webb,et al.  SLOCUM: an underwater glider propelled by environmental energy , 2001 .

[18]  Hans C. Woithe,et al.  Improving Slocum Glider dead reckoning using a Doppler Velocity Log , 2011, OCEANS'11 MTS/IEEE KONA.