Abstract
This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments. Submerged sensory information is often affected by diverse sources of uncertainty that can deteriorate the positioning and tracking. By adopting uncertain modeling and multi-sensor fusion techniques, the framework can maintain a coherent representation of the environment, filtering outliers, inconsistencies in sequential observations, and useless information for positioning purposes. We evaluate the framework using cameras and range sensors for modeling uncertain features that represent the environment around the vehicle. We locate the underwater vehicle using a Sequential Monte Carlo (SMC) method initialized from the GPS location obtained on the surface. The experimental results show that the framework provides a reliable environment representation during the underwater navigation to the localization system in real-world scenarios. Besides, they evaluate the improvement of localization compared to the position estimation using reliable dead-reckoning systems.
Highlights
This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments
We present a framework for processing, modeling, and fusing underwater sensor signals to obtain a reliable representation of the submarine environment around the vehicle
We present the processing and modeling of different underwater sensor signals to provide a reliable representation of the environment for underwater localization in structured environments
Summary
This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments. Acoustic positioning systems are the most used underwater external positioning approaches, from long baseline (LBL) [5,6,7] to sort baseline (SBL) [8] and ultrashort baseline (USBL) [9,10] These sensors suffer from multipath Doppler effects and thermoclines, which induce acoustic reflection effects. These underwater localization systems require the deployment of a network of sea-floor mounted baseline transponders, often in the perimeter of the workplace area, for LBL or a support vessel with the transponders following the vehicle for SBL and USBL.
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