Sonar Localization of an Autonomous Underwater Vehicle
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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Two different algorithms to navigate an AUV within a charted environment are presented. They use sonar returns and a local map together with the dynamic model to estimate the vehicles position and acceleration at all times. Kalman filtering techniques are used to compute the estimates. The main difficulty is the presence of uncharted obstacles, which are identified by the potential function algorithm. Results show that first algorithm works in an environment without obstacles. Results from the application of the potential function algorithm in a pool using Tritech ST725 high resolution sonar show the feasibility and robustness of the potential function approach to the navigation problem.
- Acoustic Detection and Detectors
- Underwater and Marine Navigation and Guidance