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dc.contributor.authorVio, Renato P.
dc.contributor.authorCristi, Roberto
dc.contributor.authorSmith, Kevin B.
dc.date26 October 2017
dc.date.accessioned2018-12-10T16:06:06Z
dc.date.available2018-12-10T16:06:06Z
dc.date.issued2017-10-26
dc.identifier.citationVio, Renato P., Roberto Cristi, and Kevin B. Smith. "UUV localization using acoustic communications, networking, and a priori knowledge of the ocean current." OCEANS 2017-Aberdeen. IEEE, 2017.en_US
dc.identifier.urihttp://hdl.handle.net/10945/60775
dc.descriptionThe article of record as published may be found at http://dx.doi.org/10.1109/OCEANSE.2017.8084581en_US
dc.descriptionPublished in: OCEANS 2017 - Aberdeen
dc.description.abstractUnderwater navigation is particularly challenging due to the fact that a number of navigation aids, such as GPS and similar, are not available. In order to accurately estimate a UUV's position at any time during a mission, we are relying on acoustic communication between the UUV and a network of surface platforms at known locations (reference points). By using the acoustic modems and a model of the environment, the acoustic wave travel time from the UUV to the reference points can be measured and converted into a distance. These distance measurements are then used by a tracking algorithm to improve the UUV positioning accuracy. In previous work [1], a tracking algorithm based on the Unscented Kalman Filter (UKF) was developed presenting satisfactory results. As part of the UUV tracking model, the drift caused by the ocean current was modeled as a random walk and is part of the state of the system. Based on predictions for the ocean current made by different UUVs at different times, a consensus algorithm was developed [2]. The knowledge of the ocean current provided by the consensus algorithm is then used to improve the UUV positioning. The developed algorithms were initially tested using synthetic data. To validate the simulation results, the algorithms were applied to data collected during sea tests that took place in Monterey Bay in August, 2015.en_US
dc.description.sponsorshipNPS Consortium for Robotics and Unmanned Systems Education and Research (CRUSER)en_US
dc.description.sponsorshipU.S. Office of Naval Researchen_US
dc.format.extent7 p.en_US
dc.publisherIEEEen_US
dc.rightsThis 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.en_US
dc.titleUUV localization using acoustic communications, networking, and a priori knowledge of the ocean currenten_US
dc.typeArticleen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.subject.authorunderwater navigation systemsen_US
dc.subject.authoracoustic modemsen_US
dc.subject.authorunscented Kalman filteren_US
dc.subject.authorconsensus algorithmen_US


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