{"title":"A method for terrain navigation of an AUV","authors":"I. Nygren","doi":"10.1109/OCEANS.2001.968101","DOIUrl":null,"url":null,"abstract":"The purpose of the paper is to describe a method for accurately determining the position of an autonomous underwater vehicle (AUV) in shallow waters. The method is conceptually simple. It involves measuring the seabed topography with a few sonar pings over a limited area by an ordinary bathymetric multibeam sonar. These measurements are then correlated with existing underwater maps. The paper deals with the positioning problem by an elementary theoretical discussion and then presents some results from a simulation study conducted with the Reson SeaBat 9001 multibeam bathymetric sonar. It also presents the results of a verification sea trial in a flat-bottom area using the same sonar.","PeriodicalId":326183,"journal":{"name":"MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.2001.968101","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
The purpose of the paper is to describe a method for accurately determining the position of an autonomous underwater vehicle (AUV) in shallow waters. The method is conceptually simple. It involves measuring the seabed topography with a few sonar pings over a limited area by an ordinary bathymetric multibeam sonar. These measurements are then correlated with existing underwater maps. The paper deals with the positioning problem by an elementary theoretical discussion and then presents some results from a simulation study conducted with the Reson SeaBat 9001 multibeam bathymetric sonar. It also presents the results of a verification sea trial in a flat-bottom area using the same sonar.
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