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Underwater Localization System Combining iUSBL with Dynamic SBL in ¡VAMOS! Trials

2020Journal article Open access
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dc.contributor.authorAlmeida, José
dc.contributor.authorMatias, Bruno
dc.contributor.authorFerreira, António João
dc.contributor.authorAlmeida, Carlos
dc.contributor.authorMartins, Alfredo
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2021-12-07T10:58:06Z
dc.date.available2021-12-07T10:58:06Z
dc.date.issued2020
dc.description.abstractEmerging opportunities in the exploration of inland water bodies, such as underwater mining of flooded open pit mines, require accurate real-time positioning of multiple underwater assets. In the mining operation scenarios, operational requirements deny the application of standard acoustic positioning techniques, posing additional challenges to the localization problem. This paper presents a novel underwater localization solution, implemented for the ¡VAMOS! project, based on the combination of raw measurements from a short baseline (SBL) array and an inverted ultrashort baseline (iUSBL). An extended Kalman filter (EKF), fusing IMU raw measurements, pressure observations, SBL ranges, and USBL directional angles, estimates the localization of an underwater mining vehicle in 6DOF. Sensor bias and the speed of sound in the water are estimated indirectly by the filter. Moreover, in order to discard acoustic outliers, due to multipath reflections in such a confined and cluttered space, a data association layer and a dynamic SBL master selection heuristic were implemented. To demonstrate the advantage of this new technique, results obtained in the field, during the ¡VAMOS! underwater mining field trials, are presented and discussed.pt_PT
dc.description.sponsorshipThis work was funded by the ¡VAMOS! project funded by the European Commission under the H2020 EU Framework Programme for Research and by National Funds through the Portuguese funding agency, FCT (Fundação para a Ciência e a Tecnologia), within project UIDB/50014/2020 and TEC4SEA - Modular Platform for Research, Test and Validation of Technologies supporting a Sustainable Blue Economy from National Roadmap for Research Infrastructures of Strategic Interest, NORTE-01-0145-FEDER-022097- PINFRA/22097/2016.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.3390/s20174710pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/19005
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherMDPIpt_PT
dc.relationNORTE-01-0145-FEDER-022097- PINFRA/22097/2016pt_PT
dc.relationINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
dc.relation.publisherversionhttps://www.mdpi.com/1424-8220/20/17/4710pt_PT
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/pt_PT
dc.subjectAUV navigationpt_PT
dc.subjectUnderwater localizationpt_PT
dc.subjectEstimationpt_PT
dc.subjectSBLpt_PT
dc.subjectiUSBLpt_PT
dc.subjectData fusionpt_PT
dc.subjectEKFpt_PT
dc.subjectUnderwater miningpt_PT
dc.titleUnderwater Localization System Combining iUSBL with Dynamic SBL in ¡VAMOS! Trialspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.awardTitleINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PT
oaire.citation.issue17pt_PT
oaire.citation.startPage4710pt_PT
oaire.citation.titleSensorspt_PT
oaire.citation.volume20pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameSoares Almeida
person.familyNameLopes Matias
person.familyNameFerreira
person.familyNameAlmeida
person.familyNameMartins
person.familyNameSilva
person.givenNameJosé Miguel
person.givenNameBruno
person.givenNameAntónio
person.givenNameCarlos
person.givenNameAlfredo
person.givenNameEduardo
person.identifierR-001-0CZ
person.identifier.ciencia-idD018-2A4D-8588
person.identifier.ciencia-idBC1F-C5AA-06A8
person.identifier.ciencia-id611B-407B-8856
person.identifier.ciencia-id5411-8989-1724
person.identifier.ciencia-id341E-9000-B513
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0001-5844-5393
person.identifier.orcid0000-0002-5036-7762
person.identifier.orcid0000-0002-6091-1549
person.identifier.orcid0000-0003-2773-703X
person.identifier.orcid0000-0003-3195-5638
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id23007623500
person.identifier.scopus-author-id56234856000
person.identifier.scopus-author-id6507130721
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
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