Autonomous underwater vehicle motion response: a nonacoustic tool for blue water navigation

Randeni, P., Supun, A. T., Forrest, Alexander L., Cossu, Remo, Leong, Zhi Quan, King, Peter D and Ranmuthugala, Dev (2016) Autonomous underwater vehicle motion response: a nonacoustic tool for blue water navigation. Marine Technology Society Journal, 50 2: 17-26. doi:10.4031/MTSJ.50.2.3

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Author Randeni, P.
Supun, A. T.
Forrest, Alexander L.
Cossu, Remo
Leong, Zhi Quan
King, Peter D
Ranmuthugala, Dev
Title Autonomous underwater vehicle motion response: a nonacoustic tool for blue water navigation
Journal name Marine Technology Society Journal   Check publisher's open access policy
ISSN 0025-3324
Publication date 2016
Sub-type Article (original research)
DOI 10.4031/MTSJ.50.2.3
Open Access Status Not Open Access
Volume 50
Issue 2
Start page 17
End page 26
Total pages 10
Place of publication Washington, DC, United States
Publisher Marine Technology Society
Collection year 2017
Language eng
Formatted abstract
Autonomous underwater vehicles (AUVs) use secondary velocity over ground measurements to aid the Inertial Navigation System (INS) to avoid unbounded drift in the point-to-point navigation solution. When operating in deep open ocean (i.e., in blue water—beyond the frequency-specific instrument range), the velocity measurements are either based on water column velocities or completely unavailable. In such scenarios, the velocity-relative-to-water measurements from an acoustic Doppler current profiler (ADCP) are often used for INS aiding. ADCPs have a blanking distance (typically ranging between 0.5 and 5 m) in proximity to the device in which the flow velocity data are undetectable. Hence, water velocities used to aid the INS solution can be significantly different from that near the vehicle and are subjected to significant noise. Previously, the authors introduced a nonacoustic method to calculate the water velocity components of a turbulent water column within the ADCP dead zone using the AUV motion response (referred to as the WVAM method). The current study analyzes the feasibility of incorporating the WVAM method within the INS by investigating the accuracy of it at different turbulence levels of the water column. Findings of this work demonstrate that the threshold limits of the method can be improved in the nonlinear ranges (i.e., at low and high levels of energy); however, by estimating a more accurate representation of vehicle hydrodynamic coefficients, this method has proven robust in a range of tidally induced flow conditions. The WVAM method, in its current state, offers significant potential to make a key contribution to blue water navigation when integrated within the vehicle's INS.
Keyword INS
Acoustic Doppler current profilers (ADCPs)
Autonomous underwater vehicles (AUVs)
Water column velocity
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: School of Civil Engineering Publications
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Created: Thu, 05 May 2016, 15:34:44 EST by Remo Cossu on behalf of School of Civil Engineering