Improved AUV navigation using side-scan sonar

I. Tena Ruiz, Y. Petillot, D. M. Lane

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)

Abstract

The following paper presents results from a novel solution for improving the navigation of an Autonomous Underwater Vehicle (AUV) using a side-scan sonar. It is derived from a system that has been developed to produce high quality mosaics using a Doppler Velocity Log (DVL), a tri-axial compass and a side-scan sonar. The system has been extended by incorporating a Concurrent Mapping and Localization (CML) algorithm. The CML tool chosen is the stochastic map. This is a proven tool for navigating in unknown environments. It can be used as a substitute for common absolute sensors, such as GPS or acoustic baseline systems, or it can work with them. The system concurrently builds a map of the environment using observations of landmarks extracted from side-scan sonar and uses that map an the dead-reckoning to create and estimate of the AUV's location.

Original languageEnglish
Pages (from-to)1261-1268
Number of pages8
JournalOceans Conference Record
Volume3
Publication statusPublished - 2003
EventCelebrating the Past... Teaming Toward the Future - San Diego, CA., United States
Duration: 22 Sep 200326 Sep 2003

Fingerprint

Dive into the research topics of 'Improved AUV navigation using side-scan sonar'. Together they form a unique fingerprint.

Cite this