The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on...
The integrated navigation system with strapdown inertial navigation system (SINS), Beidou (BD) receiver and Doppler velocity log (DVL) can be used in marine applications owing to the fact that the redundant and complementary information from differen...
An accurate observation model and statistical model are critical in underwater integrated navigation. However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler veloc...
Initial alignment of the strapdown inertial navigation system (SINS) is intended to determine the initial attitude matrix in a short time with certain accuracy. The alignment accuracy of the quaternion filter algorithm is remarkable, but the converge...
To improve the ability of autonomous navigation for Unmanned Surface Vehicles (USVs), multi-sensor integrated navigation based on Inertial Navigation System (INS), Celestial Navigation System (CNS) and Doppler Velocity Log (DVL) is proposed. The CNS...
In most autonomous underwater vehicles (AUVs), the navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL). In several INSs, only the velocity vector, provided by the DVL, can be used as input for assis...
This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose...
Due to the influence of the complex underwater environment, the initial alignment method for Doppler velocity log (DVL)-aided strap-down inertial navigation systems (SINS) often suffer from performance degradation, especially when DVL measurements ar...
Underwater vehicles are key carriers for underwater inspection and operation tasks, and the successful implementation of these tasks depends on the positioning and navigation equipment with corresponding accuracy. In practice, multiple positioning an...
As a common device for underwater integrated navigation systems, Doppler velocity log (DVL) has the risk of malfunction. To improve the reliability of navigation systems, a hybrid approach is presented to forecast the measurements of the DVL while it...
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to spa...
This article proposes a novel initial bias estimation method using a trajectory generator (TG). The accuracy of attitude and position estimation in navigation after using the inertial navigation system/Doppler velocity log (INS/DVL) and INS/DVL/gyroc...
The Inertial Navigation System (INS) and Doppler Velocity Log (DVL) combination navigation system has been widely used in Autonomous Underwater Vehicles (AUVs) due to its independence, stealth, and high accuracy. Compared to the standalone INS or DVL...
Global navigation satellite system (GNSS) spoofing poses a significant threat to maritime logistics. Many maritime electronic devices rely on GNSS time, positioning, and speed for safe vessel operation. In this study, inertial measurement unit (IMU)...
Since the drifts of Inertial Navigation System (INS) solutions are inevitable and also grow over time, a Doppler Velocity Log (DVL) is used to aid the INS to restrain its error growth. Therefore, INS/DVL integration is a common approach for Autonomou...
This paper proposes an improved adaptive filtering algorithm based on the Sage–Husa adaptive Kalman filtering algorithm to address the issue of measurement noise characteristics impacting the navigation accuracy in strapdown inertial navigation...
Navigation is a precondition for ocean space vehicles to work safely in polar regions. The traditional polar algorithms employ the grid strapdown inertial navigation system (SINS) as the backbone and Doppler velocity log (DVL) output velocity as meas...
Navigation and positioning of autonomous underwater vehicles (AUVs) in the complex and changeable marine environment are crucial and challenging. For the positioning of AUVs, the integrated navigation of the strap-down inertial navigation system (SIN...
This study addresses the nonlinear estimation problem in the strapdown inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation by proposing an improved filtering algorithm based on SE2(3) Lie group state representation....
The traditional underwater integrated navigation system is based on an optical fiber gyroscope and Doppler Velocity Log, which is high-precision but also expensive, heavy, bulky and difficult to adapt to the development requirements of AUV swarm, int...
Autonomous underwater vehicles (AUVs) are extensively utilized in various autonomous underwater missions, encompassing ocean environment monitoring, underwater searching, and geological exploration. Owing to their profound underwater capabilities and...
The strap-down inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation system are widely used for autonomous underwater vehicles (AUVs). Whereas DVL works in the water tracking mode, the velocity provided by DVL is rela...
Precise flow measurement in the open channel is a key prerequisite to implementation of modern agricultural efficient water use. The channel with an arc-bottomed shape is the most common channel type in irrigation area at present. The paper has verif...
Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net f...
In most autonomous vehicles the navigation subsystem is based on Inertial Navigation System (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements. Recent...
It is difficult for autonomous underwater vehicles (AUVs) to obtain accurate aided position information in many locations because of underwater conditions. The velocity accuracy from the Doppler velocity log (DVL) is a key element in deciding the AUV...
Current commercial sensors to monitor water flow velocities are expensive, bulky, and require significant effort to install. Low-cost sensors open the possibility of monitoring storm and waste water systems at a much greater spatial and temporal reso...
This paper proposes a maximum-ratio combining sensor fusion scheme for using an extended Kalman filter in the underwater vehicle positioning task by means of communication devices (buoys) providing location information using a slant-range mechanism,...
Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. T...
As the exploration of marine resources continues to deepen, the utilization of Autonomous Underwater Vehicles (AUVs) for conducting marine resource surveys and underwater environmental mapping has become a common practice. In order to successfully ac...
The bottom friction velocity (U*), which controls seabed erosion and deposition, plays a critical role in sediment transport in tidal coastal bottom boundary layers. Approaches have been proposed to calculate U*, including the log profile (LP) estima...
Positioning systems are integral to Unmanned Underwater Vehicle (UUV) operation, enabling precise navigation and control in complex underwater environments. This paper comprehensively reviews the key technologies employed for UUV positioning, includi...
Underwater navigation presents crucial issues because of the rapid attenuation of electronic magnetic waves. The conventional underwater navigation methods are achieved by acoustic equipment, such as the ultra-short-baseline localisation systems and...
This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Do...
When autonomous underwater vehicles (AUVs) perform underwater tasks, the absence of GPS position assistance can lead to a decrease in the accuracy of traditional navigation systems, such as the extended Kalman filter (EKF), due to the accumulation of...
Autonomous Underwater Vehicles (AUVs) are widely used for hydrological monitoring, underwater exploration, and geological surveys. However, AUVs face limitations in underwater navigation due to the high costs associated with Strapdown Inertial Naviga...
For an underwater Strapdown Inertial Navigation System/Doppler velocity log (SINS/DVL) integrated navigation system, the short-term failure of DVL may lead to the loss of reliable external velocity information from DVL, which will cause the SINS erro...
Although the Doppler velocity log is widely applied to measure underwater fluid flow, it requires high power and is inappropriate for measuring low flow velocity. This study proposes a fluid flow sensor that utilizes optical flow sensing. The propose...
Autonomous Underwater Vehicle (AUV) navigation relies on bottom-tracking velocity from Doppler Velocity Log (DVL) for positioning through dead-reckoning or aiding Strapdown Inertial Navigation System (SINS). In mid-water environments, the distance be...
For the investigation of turbulence and particles, interaction measurement systems are required, which are able to measure velocity and concentration fluctuations simultaneously. Acoustic Doppler Velocimeters (ADV) are widely used for velocity and tu...
Autonomous underwater vehicles (AUVs) play an increasingly essential role in the field of polar ocean exploration, and the Doppler velocity log (DVL)-aided strapdown inertial navigation system (SINS) is widely used for it. Due to the rapid convergenc...
In response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inerti...
The Autonomous Underwater Vehicle (AUV) is capable of autonomously conducting underwater cruising tasks. When combined with docking operations, the AUV can replenish its electric power after long-distance travel, enabling it to achieve long-range aut...
Autonomous Underwater Vehicles (AUVs) equipped with Side-Scan Sonar (SSS) play a critical role in seabed mapping, where precise navigation data are essential for mosaicking sonar images to delineate the seafloor’s topography and feature locatio...
Precise navigation is essential for autonomous underwater vehicles (AUVs). The measurement deviation of the navigation sensors, especially the microelectromechanical systems (MEMS) sensors, is a crucial factor that affects the localization accuracy....
In-motion alignment of Strapdown Inertial Navigation Systems (SINS) without any geodetic-frame observations is one of the toughest challenges for Autonomous Underwater Vehicles (AUV). This paper presents a novel scheme for Doppler Velocity Log (DVL)...
The deep-sea landing vehicle (DSLV) swarm exploration system is a novel platform for the detection of marine mineral resources. A high-precision cooperative localization system with Ultra-Short Baseline (USBL), Doppler Velocity Log (DVL), and electro...
In this paper, we present secondary current effects on the turbulence characteristics of supercritical narrow open channel flows over a smooth fixed bed. The main hydraulic parameters are low channel width to flow depth ratios varying between 1 and 2...
High accuracy and reliable navigation in the underwater environment is very critical for the operations of autonomous underwater vehicles (AUVs). This paper proposes an adaptive federated interacting multiple model (IMM) filter, which combines adapti...
The Autonomous Underwater Vehicle (AUV) is usually equipped with multiple sensors, such as an inertial navigation system (INS), ultra-short baseline system (USBL), and Doppler velocity log (DVL), to achieve autonomous navigation. Multi-source informa...
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