Experiments in Moving Baseline Navigation using Autonomous Surface Crafts

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Experiments in Moving Baseline Navigation using
Autonomous Surface Crafts

• Joseph Curcio, John Leonard, Jerome Vaganay,
  Andrew Patrikalakis, Alexander Bahr, David
  Battle, Henrik Schmidt

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Outline

• Cooperative Navigation Motivation and Roadmap
• Initial Testing Forest Lake, Maine
• UUV-Fest, June 2005 (Keyport, WA)
• FAF, July 2005 (Pianosa, Italy)
• Future Deployments
• Massachusetts Bay, Fall, 2005
• Monterey, Summer 2006

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Long Baseline (LBL) navigation

• Doppler Velocity Log (DVL) and Inertial
  Navigation System (INS) provide dead-reckoned
  position
• AUV queries Long Baseline (LBL) navigation
  beacons and receives response
• AUV records time of flight, knows beacon
  positions and computes absolute position
• Extended Kalman (EKF) filter is used to update
  dead-reckoned position estimates with absolute
  position readings

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The vision

• A collaborating, heterogeneous group of AUVs
  with different navigation capabilities and tasks

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and how to get there
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Moving Long Baseline (MLBL) experiment

• Presented by Vaganay et. al Oceans 2004
  conference
• Two boats serve as Moving Long Baseline (MLBL)
  beacons
• Using Sonardyne gear for ranging

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Outline

• Cooperative Navigation Motivation and Roadmap
• Initial Testing Forest Lake, Maine
• AUVFest, June 2005 (Keyport, WA)
• FAF, July 2005 (Pianosa, Italy)
• Future Deployments
• Massachusetts Bay, Fall, 2005
• Monterey, Summer 2006

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Initial Testing Modem Performance
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Outline

• Cooperative Navigation Motivation and Roadmap
• Initial Testing Forest Lake, Maine
• AUVFest, June 2005 (Keyport, WA)
• FAF, July 2005 (Pianosa, Italy)
• Future Deployments
• Massachusetts Bay, Fall, 2005
• Monterey, Summer 2006

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AUV-Fest, June 2005 (Keyport, WA)
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Vehicle Tracking
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Cooperative Navigation Results
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Outline

• Cooperative Navigation Motivation and Roadmap
• Initial Testing Forest Lake, Maine
• AUVFest, June 2005 (Keyport, WA)
• FAF, July 2005 (Pianosa, Italy)
• Future Deployments
• Massachusetts Bay, Fall, 2005
• Monterey, Summer 2006

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FAF05, Pianosa, Italy

• 2 Kayaks 1 AUV used for MLBL experiment
• First Data Transmission between AUV and Kayaks
  (both moving)

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Acoustic Transmission Results
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Acoustic Transmission Results
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Outline

• Cooperative Navigation Motivation and Roadmap
• Initial Testing Forest Lake, Maine
• AUVFest, June 2005 (Keyport, WA)
• FAF, July 2005 (Pianosa, Italy)
• Future Deployments
• Massachusetts Bay, Fall, 2005
• Monterey, Summer 2006

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ASAP Experiment, Monterey Bay, August 2006
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Summary

• Achievements in FY 2005
• Building and testing of the SCOUT Autonomous
  Surface Craft
• Test and implementation of the Woods Hole modem
  for acoustic communication and navigation
• First cooperative navigation tests with
  autonomous vehicles only
• Real multi-vehicle experiments
• Successful Kayak-AUV communication and ranging

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• Questions ?

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MLBL Results
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Surface Craft for Oceanographic and Undersea
Testing (SCOUT)

• Low-cost reconfigurable platform for development
  and testing of cooperative autonomous algorithms
• Off-the shelf components for extremely low cost
• Flexible design enabling rapid addition of new
  sensors
• Standard PC, GPS, R/C, RF Modem, 802.11b, Woods
  Hole Acoustic Modem, MOOS operating system

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Specifications

• HDPE Hull
• LOA 3m
• Beam 75cm

• Max Spd 5 KTS
• Cruise Spd 3 KTS

• Battery 12V 100AH
• Duration 8 Hr
• GVW 90 kg

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Slotted Data Transmission Time Sync
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Slotted Data Transmission Data Transfer
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How to compute the solutions