Low-cost underwater localisation using single-beam echosounders and inertial measurement units
Underwater robot localisation is challenging as it cannot rely on sensors such as the GPS due to electromagnetic wave attenuation or optical cameras due to water turbidity. SONARs are immune to these issues, hence they are used as alternatives for underwater navigation despite lower spatial and temp...
| Main Authors: | , , , , , , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/165700 https://proceedings-limerick.oceans2023.org/session.cfm?sid=21 |
| _version_ | 1811694446330249216 |
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| author | Abu Bakr Azam Kong, Ze Jie Ng, Sing Yew Scherrer, Michael Florian Elhadidi, Basman Seet, Gerald Zheng, Jianmin Cai, Yiyu |
| author2 | Interdisciplinary Graduate School (IGS) |
| author_facet | Interdisciplinary Graduate School (IGS) Abu Bakr Azam Kong, Ze Jie Ng, Sing Yew Scherrer, Michael Florian Elhadidi, Basman Seet, Gerald Zheng, Jianmin Cai, Yiyu |
| author_sort | Abu Bakr Azam |
| collection | NTU |
| description | Underwater robot localisation is challenging as it cannot rely on sensors such as the GPS due to electromagnetic wave attenuation or optical cameras due to water turbidity. SONARs are immune to these issues, hence they are used as alternatives for underwater navigation despite lower spatial and temporal resolution. Single-beam SONARs are sensors whose main output is distance. When combined with a filtering algorithm like the Kalman filter, these distance readings can correct localisation data obtained by inertial measurement units. Compared to multi-beam imaging SONARs, the single-beam SONARs are inexpensive to integrate into underwater robots. Therefore, this study aims to develop a low-cost localisation solution utilizing single-beam SONARs and pressure-based depth sensors to correct dead-reckoning linear localisation data using Kalman filters. From experiments, a single-beam SONAR per
degree of freedom was able to correct localisation data, without the need of complicated data fusion methods. |
| first_indexed | 2024-10-01T07:07:42Z |
| format | Conference Paper |
| id | ntu-10356/165700 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:07:42Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1657002023-09-19T02:58:19Z Low-cost underwater localisation using single-beam echosounders and inertial measurement units Abu Bakr Azam Kong, Ze Jie Ng, Sing Yew Scherrer, Michael Florian Elhadidi, Basman Seet, Gerald Zheng, Jianmin Cai, Yiyu Interdisciplinary Graduate School (IGS) School of Mechanical and Aerospace Engineering School of Computer Science and Engineering OCEANS 2023 Limerick SAAB Singapore Energy Research Institute @ NTU (ERI@N) Engineering::Mechanical engineering::Robots Underwater Robot SONAR Sensor Underwater robot localisation is challenging as it cannot rely on sensors such as the GPS due to electromagnetic wave attenuation or optical cameras due to water turbidity. SONARs are immune to these issues, hence they are used as alternatives for underwater navigation despite lower spatial and temporal resolution. Single-beam SONARs are sensors whose main output is distance. When combined with a filtering algorithm like the Kalman filter, these distance readings can correct localisation data obtained by inertial measurement units. Compared to multi-beam imaging SONARs, the single-beam SONARs are inexpensive to integrate into underwater robots. Therefore, this study aims to develop a low-cost localisation solution utilizing single-beam SONARs and pressure-based depth sensors to correct dead-reckoning linear localisation data using Kalman filters. From experiments, a single-beam SONAR per degree of freedom was able to correct localisation data, without the need of complicated data fusion methods. Nanyang Technological University Submitted/Accepted version This paper is done as part of the work conducted under the SAAB-NTU Joint Lab with support from SAAB Singapore Pte. Ltd, SAAB AB, NTU Robotics Research Centre (RRC) and NTU Sports and Recreational Centre (NTU-SRC). 2023-09-08T07:05:16Z 2023-09-08T07:05:16Z 2023 Conference Paper Abu Bakr Azam, Kong, Z. J., Ng, S. Y., Scherrer, M. F., Elhadidi, B., Seet, G., Zheng, J. & Cai, Y. (2023). Low-cost underwater localisation using single-beam echosounders and inertial measurement units. OCEANS 2023 Limerick. https://dx.doi.org/10.1109/OCEANSLimerick52467.2023.10244255 979-8-3503-3226-1 https://hdl.handle.net/10356/165700 10.1109/OCEANSLimerick52467.2023.10244255 https://proceedings-limerick.oceans2023.org/session.cfm?sid=21 en © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/OCEANSLimerick52467.2023.10244255. application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Underwater Robot SONAR Sensor Abu Bakr Azam Kong, Ze Jie Ng, Sing Yew Scherrer, Michael Florian Elhadidi, Basman Seet, Gerald Zheng, Jianmin Cai, Yiyu Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title | Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title_full | Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title_fullStr | Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title_full_unstemmed | Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title_short | Low-cost underwater localisation using single-beam echosounders and inertial measurement units |
| title_sort | low cost underwater localisation using single beam echosounders and inertial measurement units |
| topic | Engineering::Mechanical engineering::Robots Underwater Robot SONAR Sensor |
| url | https://hdl.handle.net/10356/165700 https://proceedings-limerick.oceans2023.org/session.cfm?sid=21 |
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