Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles

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Authors
  1. Paull, L.
  2. Seto, M.
  3. Leonard, J.J.
Corporate Authors
Defence Research and Development Canada, Atlantic Research Centre, Halifax NS (CAN)
Abstract
Autonomous agents that can communicate and make relative measurements of each other can improve their collective localization accuracies. This is referred to as cooperative localization (CL). Autonomous underwater vehicle (AUV) CL is constrained by the low throughput, high latency, and unreliability of the acoustic channel used to communicate when submerged. Here we propose a CL algorithm specifically designed for full trajectory, or maximum a posteriori, estimation for AUVs. The method is exact and has the advantage that the broadcast packet sizes increase only linearly with the number of AUVs in the collective and do not grow at all in the case of packet loss. The approach allows for AUV missions to be achieved more efficiently since: 1) vehicles waste less time surfacing for GPS fixes, and 2) payload data is more accurately localized through the smoothing approach.
Keywords
cooperative localization;underwater communications
Report Number
DRDC-RDDC-2017-P003 — External Literature
Date of publication
03 May 2017
Number of Pages
8
DSTKIM No
CA044829
CANDIS No
805202
Format(s):
Electronic Document(PDF)

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