Acoustic communications considerations for collaborative simultaneous localization and mapping
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Authors
Hilger, Ryan Peter
Subjects
UUV
AUV
SLAM
simultaneous localization and mapping
position uncertainty
navigation
minefield
mapping
tactical security
GPS
area denial
anti-access
A2/AD
acoustic communications
Bayesian inference
AUV
SLAM
simultaneous localization and mapping
position uncertainty
navigation
minefield
mapping
tactical security
GPS
area denial
anti-access
A2/AD
acoustic communications
Bayesian inference
Advisors
Horner, Douglas
Date of Issue
2014-12
Date
Dec-14
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This thesis considers the use of acoustic communications in reducing position uncertainty for collaborating autonomous underwater vehicles. The foundation of the work relies on statistical techniques for accurate navigation without access to GPS, known as Simultaneous Localization and Mapping (SLAM). Multiple AUVs permit increased coverage, system redundancy and reduced mission times. Collaboration through acoustic communications can minimize navigational uncertainty by permitting the group to benefit from locally discovered information. However, the propagation of acoustic communications can be used to counter detect the system during naval operations. The thesis gives explicit consideration to tactical security in acoustic communications for a multi-AUV SLAM system. It provides initial techniques and analysis for minimizing communications between AUVs. The reduction is accomplished through a statistical method that allows for the estimation of the updated covariance matrices. Normally, SLAM techniques use expropioceptive (sonar and cameras) sensors and computer vision algorithms for the detection and tracking of navigational references. We propose a novel use of the acoustic modem as another sensor. It leverages the physical characteristics of underwater acoustic transmissions and the information transmitted in the signal to provide an additional measurement. We believe this is the first emphasis on minimizing communications within a multi-vehicle SLAM approach.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
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Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.