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AUV active perception: exploiting the water column

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Abstract
Autonomous Underwater Vehicles (AUVs) present a low-cost alternative or supplement to existing underwater surveillance networks. The NATO STO Centre for Maritime Research and Experimentation is developing collaborative autonomous behaviours to improve the performance of multi-static networks of AUVs. In this work we lay the foundation to combine a range-dependent acoustic model with a three dimensional measurement model for a linear array within a Bayesian framework. The resulting algorithm is able to provide the vehicles with an estimation of the target depth together with the more usual information based on a planar assumption (i.e. target latitude and longitude). Results are shown through simulations and as obtained from the REP16 sea trial where for the first time a preliminary implementation of the method was deployed in the C-OEX vehicles.

URI
http://hdl.handle.net/20.500.12489/802

Report Number
CMRE-PR-2019-062

Source
In: OCEANS 2017 - Aberdeen, UK, 19-22 June 2017, doi: 10.1109/OCEANSE.2017.8084874

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Date
2019/06

Author(s)
Munafò, Andrea
; 
Ferri, Gabriele
; 
LePage, Kevin D.
; 
Goldhahn, Ryan A.

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CMRE-PR-2019-062.pdf (3.462Mb)

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