Foto 7

F. Di Corato, D. Fenucci, A. Caiti et al: “Toward underwater acoustic-based simultaneous localization and mapping. Experimental results with the Typhoon AUV at CommsNet13 sea trial”, OCEANS ’14 ST.JOHN’S, September 2014

Written by

An algorithmic framework and experimental results on acoustic self-localization and mapping for an AUV equipped with an USBL modem are reported. The methodology proposed is quite general and applicable to a wide range of AUV and of navigation needs; however, the results presented refer to the Typhoon AUV and to the experimental configuration as available in the CommsNet13 cruise, led by the NATO S&T Ctr. for Maritime Research and Experimentation. The obtained results show that, even with a low cost, inertial motion units, and in presence of hostile acoustic channel conditions, the approach is able to keep the navigation error bounded and within 3 - 4 times GPS accuracy.