Localization of a Drifting Underwater Vehicle Using a Terrain-Based Particle Filter

42 Pages Posted: 19 Nov 2019

See all articles by Emanuele Raggi

Emanuele Raggi

T&T Sistemi S.r.l.; University Of Rhode Island; The Conference Board, Inc.

Date Written: October 5, 2019

Abstract

In this paper we present a terrain-aided particle filter to localize a freely drifting underwater vehicle. The vehicle is a bottom imaging Lagrangian float used for habitat classification, monitoring and fish abundance. During operation the vehicle captures down looking images at a controlled altitude above the bottom. Direct navigation information is often, but not always, recorded with a ultra short baseline (USBL) acoustic systsem. The presented methodology provides an al ternate method for georeferencing when USBL is unavailable. The implemented particle filter utilizes a background bathymetry map and visual odometry as a motion mode. The particle filter is implemented using the Robot Operating System (ROS) and Orocos Bayesian Filtering Library (BFL). The Grid Map package is used to store and retrieve the bathymetryic data. Results using data collected on field deployments in the Hawaiian islands in 2018 show the method is able to effectively utilize the terrain information and produce drift trajectories which closely match the recorded USBL data. Utilizing the method allows the float system to be deployed with minimal ship-side support while still maintaining the georeferencing critical to the end use of the collected images.

Note: Master of Science Thesis

Keywords: particle filter, bayesian filter, kalman filter, ultrasound, optimization, controls

JEL Classification: C10, C11, C12, C13, C93

Suggested Citation

Raggi, Emanuele and Raggi, Emanuele, Localization of a Drifting Underwater Vehicle Using a Terrain-Based Particle Filter (October 5, 2019). Available at SSRN: https://ssrn.com/abstract=3464971 or http://dx.doi.org/10.2139/ssrn.3464971

Emanuele Raggi (Contact Author)

T&T Sistemi S.r.l. ( email )

Via Leo Valiani
Levane, Arezzo, Arezzo
Italy

University Of Rhode Island ( email )

RI
United States

The Conference Board, Inc. ( email )

845 3rd avenue
New York CIty, NY 10022
United States

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