AUV-Based Plume Tracking: A Simulation Study
This paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determ...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/1764527 |
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| _version_ | 1850234913438040064 |
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| author | Awantha Jayasiri Raymond G. Gosine George K. I. Mann Peter McGuire |
| author_facet | Awantha Jayasiri Raymond G. Gosine George K. I. Mann Peter McGuire |
| author_sort | Awantha Jayasiri |
| collection | DOAJ |
| description | This paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing high-rate sensor data and low-rate information. The paper also proposes a gradient-based, efficient, and adaptive novel algorithm for plume boundary tracking missions. The algorithm follows a centralized approach and it includes path optimization features based on gradient information. The proposed algorithm is implemented in simulation on the AUV-based navigation system and successful boundary tracking results are obtained. |
| format | Article |
| id | doaj-art-1839fb48d1a0471b8ffc30cdf49e4be5 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-1839fb48d1a0471b8ffc30cdf49e4be52025-08-20T02:02:29ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/17645271764527AUV-Based Plume Tracking: A Simulation StudyAwantha Jayasiri0Raymond G. Gosine1George K. I. Mann2Peter McGuire3Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaFaculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaFaculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaC-CORE, Captain Robert A. Bartlett Building, Morrissey Road, St. John’s, NL, A1B 3X5, CanadaThis paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing high-rate sensor data and low-rate information. The paper also proposes a gradient-based, efficient, and adaptive novel algorithm for plume boundary tracking missions. The algorithm follows a centralized approach and it includes path optimization features based on gradient information. The proposed algorithm is implemented in simulation on the AUV-based navigation system and successful boundary tracking results are obtained.http://dx.doi.org/10.1155/2016/1764527 |
| spellingShingle | Awantha Jayasiri Raymond G. Gosine George K. I. Mann Peter McGuire AUV-Based Plume Tracking: A Simulation Study Journal of Control Science and Engineering |
| title | AUV-Based Plume Tracking: A Simulation Study |
| title_full | AUV-Based Plume Tracking: A Simulation Study |
| title_fullStr | AUV-Based Plume Tracking: A Simulation Study |
| title_full_unstemmed | AUV-Based Plume Tracking: A Simulation Study |
| title_short | AUV-Based Plume Tracking: A Simulation Study |
| title_sort | auv based plume tracking a simulation study |
| url | http://dx.doi.org/10.1155/2016/1764527 |
| work_keys_str_mv | AT awanthajayasiri auvbasedplumetrackingasimulationstudy AT raymondggosine auvbasedplumetrackingasimulationstudy AT georgekimann auvbasedplumetrackingasimulationstudy AT petermcguire auvbasedplumetrackingasimulationstudy |