Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System
The navigation of autonomous underwater vehicles is a major scientific and technological challenge. The principal difficulty is the opacity of the water media for usual types of radiation except for the acoustic waves. Thus, an acoustic transducer (array) composed of an acoustic sonar is the only to...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/5/3/83 |
| _version_ | 1797519641490227200 |
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| author | Alexander Miller Boris Miller Gregory Miller |
| author_facet | Alexander Miller Boris Miller Gregory Miller |
| author_sort | Alexander Miller |
| collection | DOAJ |
| description | The navigation of autonomous underwater vehicles is a major scientific and technological challenge. The principal difficulty is the opacity of the water media for usual types of radiation except for the acoustic waves. Thus, an acoustic transducer (array) composed of an acoustic sonar is the only tool for external measurements of the AUV attitude and position. Another difficulty is the inconstancy of the speed of propagation of acoustic waves, which depends on the temperature, salinity, and pressure. For this reason, only the data fusion of the acoustic measurements with data from other onboard inertial navigation system sensors can provide the necessary estimation quality and robustness. This review presents common approaches to underwater navigation and also one novel method of velocity measurement. The latter is an analog of the well-known Optical Flow method but based on a sequence of sonar array measurements. |
| first_indexed | 2024-03-10T07:45:41Z |
| format | Article |
| id | doaj.art-9e047f643a5a4b3ba4e6dca435c31bb1 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T07:45:41Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-9e047f643a5a4b3ba4e6dca435c31bb12023-11-22T12:43:07ZengMDPI AGDrones2504-446X2021-08-01538310.3390/drones5030083Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation SystemAlexander Miller0Boris Miller1Gregory Miller2Institute for Information Transmission Problems RAS, 19/1 Bolshoy Karetny Per., 127051 Moscow, RussiaInstitute for Information Transmission Problems RAS, 19/1 Bolshoy Karetny Per., 127051 Moscow, RussiaInstitute of Informatics Problems of Federal Research Center “Computer Science and Control” RAS, 44/2 Vavilova Str., 119333 Moscow, RussiaThe navigation of autonomous underwater vehicles is a major scientific and technological challenge. The principal difficulty is the opacity of the water media for usual types of radiation except for the acoustic waves. Thus, an acoustic transducer (array) composed of an acoustic sonar is the only tool for external measurements of the AUV attitude and position. Another difficulty is the inconstancy of the speed of propagation of acoustic waves, which depends on the temperature, salinity, and pressure. For this reason, only the data fusion of the acoustic measurements with data from other onboard inertial navigation system sensors can provide the necessary estimation quality and robustness. This review presents common approaches to underwater navigation and also one novel method of velocity measurement. The latter is an analog of the well-known Optical Flow method but based on a sequence of sonar array measurements.https://www.mdpi.com/2504-446X/5/3/83autonomous underwater vehiclesnavigationdata fusionacoustic sensing |
| spellingShingle | Alexander Miller Boris Miller Gregory Miller Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System Drones autonomous underwater vehicles navigation data fusion acoustic sensing |
| title | Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System |
| title_full | Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System |
| title_fullStr | Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System |
| title_full_unstemmed | Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System |
| title_short | Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System |
| title_sort | navigation of underwater drones and integration of acoustic sensing with onboard inertial navigation system |
| topic | autonomous underwater vehicles navigation data fusion acoustic sensing |
| url | https://www.mdpi.com/2504-446X/5/3/83 |
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