Advanced Autonomous Underwater Vehicle Long Range Under-ice Navigation and Localization

先进自主水下航行器远程冰下导航和定位

• 批准号: RGPIN-2018-05486
• 负责人: Seto, Mae
• 金额: $ 1.97万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=664777
• 关键词: Advanced; Autonomous; Underwater; Vehicle; Long

All Canadians are impacted by, and benefit from, research into tools that: contribute insight on Canada's under-ice oceans and their connection to changing climate; safe and secure navigable northern waters, and long duration devices to monitor, patrol and track underwater activity for Canadian Arctic sovereignty and defence. Autonomous underwater vehicles (AUV) are tools tasked to work in all three. The limiting capability in all three is the AUV ability to navigate and localize over long ranges unassisted by external sensors. This does not exist yet to the extent that it should. The outcomes of the proposed research program contribute important milestones towards this. It provides a transformational capability to address these topics and supports the ocean sector in an unprecedented way. *** *For AUVs to fully realize their value by operating at more than arms-length from a ship or operator, they must navigate and localize long distances underwater and under-ice without assistance from a ship or external-to-the-AUV positioning sensor which are not options under-ice. The external aiding is necessary as the positional error of inertial systems grown unbounded with distance travelled.*** With simultaneous localization and mapping (SLAM) the AUV will navigate an unknown area using inertial sensors which could be externally aided. During the mission, the AUV builds the map and concurrently localizes itself within it so its survey sensor measurements are geo-referenced. With AUVs, inertial navigation is limited by the range of the external positional aiding and cannot operate far from the seabed. This solution restricts the AUV operational range possible.*** Beyond the state-of-the art SLAM with inertial navigation aided by external sensors, my research program studies featureless (abstract features) SLAM with inertial navigation aided by geophysical or terrain navigation instead of external sensors as it better suits the under-ice environment. *Similar to fusing GPS or acoustic position aiding sensors with inertial navigation, terrain-aided (bathymetric) navigation (TAN) features in a priori maps are used to bound the position error growth of the inertial sensors. Unlike underwater inertial or acoustic navigation methods, TAN methods are not limited in operational range or altitude. TAN is a potentially powerful solution towards long range under-ice AUV navigation and localization. *To work towards on-board on-line SLAM with bathymetric TAN, the SLAM method favored for the proposed research is pose-graph. *** ******

所有加拿大人都受到工具研究的影响并从中受益： 有助于深入了解加拿大冰下海洋及其与气候变化的关系；安全可靠的北方通航水域，以及用于监测、巡逻和跟踪加拿大北极主权和国防的水下活动的长效设备。 自主水下航行器（AUV）是负责这三种工作的工具。 这三者的限制能力是 AUV 在没有外部传感器协助的情况下进行长距离导航和定位的能力。 这种情况还没有达到应有的程度。 拟议研究计划的成果为此做出了重要的里程碑贡献。 它提供了解决这些主题的变革能力，并以前所未有的方式支持海洋部门。 *** *对于 AUV 来说，要通过在距离船舶或操作员超过一臂距离的地方操作来充分实现其价值，它们必须在没有船舶或 AUV 外部协助的情况下在水下和冰下进行长距离导航和定位定位传感器，这不是冰下选项。 外部辅助是必要的，因为惯性系统的位置误差随着行驶距离的增加而无限增长。*** 通过同步定位和建图 (SLAM)，AUV 将使用可以外部辅助的惯性传感器在未知区域中导航。 在执行任务期间，AUV 会构建地图并同时在其中进行自身定位，以便其测量传感器测量结果具有地理参考。 对于AUV，惯性导航受到外部定位辅助范围的限制，无法在远离海底的地方进行操作。 该解决方案限制了 AUV 可能的操作范围。*** 除了采用外部传感器辅助的惯性导航的最先进 SLAM 之外，我的研究计划还研究采用地球物理或地形导航辅助的惯性导航的无特征（抽象特征）SLAM，而不是外部传感器，因为它更适合冰下环境。 *类似于将 GPS 或声学位置辅助传感器与惯性导航融合，先验地图中的地形辅助（测深）导航 (TAN) 功能用于限制惯性传感器的位置误差增长。 与水下惯性或声学导航方法不同，TAN 方法不受操作范围或高度的限制。 TAN 是远距离冰下 AUV 导航和定位的潜在强大解决方案。 *为了利用测深 TAN 实现机载在线 SLAM，本研究首选的 SLAM 方法是位姿图。 *** ******