방향 모호성을 고려한 수중 음향 기반의 2차원 위치 추정 기술 개발
Acoustic based Two Dimensional Underwater Localization Considering Directional Ambiguity
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.
Abstract
Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.
참고문헌 (14)
- C. Huet, "Autonomy for underwater robots-a European perspective", Autonomous Robots, 40(7), pp.1113~1118 (2016)
- L. Whitcomb, "Advances in underwater robot vehicles for deep ocean exploration : Navigation, control and survey operations", Proceedings of The Ninth International Symposium on Robotics Research, pp.346~353 (1999)
- J. C. Kinsey, "A survey of underwater vehicle navigation : Recent advances and new challenges", Proceedings of 7th IFAC Conference Manoeuvring and Control of Marine Craft (2006)
- L. Paull, "AUV Navigation and Localization : A Review", IEEE Journal of Oceanic Engineering, 39(1), pp.131~149 (2014)
- K. Vickery, "Acoustic positioning systems. A practical overview of current systems", Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles, pp.5~17 (1998)
- 김태균, "음향 신호를 이용한 수중로봇의 위치추정", 로봇학회 논문지, 7(4), pp.231~242 (2012), 한국로봇학회[DOI]
- A. Alcocer, "Underwater acoustic positioning systems based on buoys with GPS", Proceedings of the Eighth European Conference on Underwater Acoustics (2006)
- P. Newman, "Pure range-only sub-sea SLAM", Proceedings of the International Conference on Robotics and Automation, pp.1921~1926 (2003)
- E. Olson, "Robust range-only beacon localization", IEEE Journal of Oceanic Engineering, 31(4), pp.949~958 (2006)
- F. D. Corato, "Toward underwater acousticbased simultaneous localization and mapping. Experimental results with the Typhoon AUV at CommsNet13 sea trial", Proceedings of IEEE, 2014, ~
- R. Khan, "Underwater navigation using maneuverable beacons for localization", Proceedings of IEEE, 2016, ~
- N. R. Rypkema, "One-way travel-time inverted ultra-short baseline localization for low-cost autonomous underwater vehicles", Proceedings of the International Conference on Robotics and Automation (2017)
- C. H. Knapp, "The generalized correlation method for estimation of time delay", IEEE Transaction on Acoustics, Speech, and Signal processing, 24(4), pp.320~327 (1976)
- 최진우, "확률적 방향각 추정에 기반한 수중 음원의 위치 인식 기법", 로봇학회 논문지, 9(4), pp.206~215 (2014), 한국로봇학회[DOI]