A method of state estimation for underwater vehicle navigation around a cylindrical structure

Zhang, T; Huang, S; Liu, D; Shi, L; Zhou, C; Xiong, R

A method of state estimation for underwater vehicle navigation around a cylindrical structure

Zhang, T Huang, S

Liu, D

Shi, L

Zhou, C Xiong, R

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016, 2016, pp. 101 - 106
Issue Date:: 2016-10-19

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Field	Value	Language
dc.contributor.author	Zhang, T	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Shi, L https://orcid.org/0000-0002-5215-025X	en_US
dc.contributor.author	Zhou, C	en_US
dc.contributor.author	Xiong, R	en_US
dc.date.issued	2016-10-19	en_US
dc.identifier.citation	Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016, 2016, pp. 101 - 106	en_US
dc.identifier.isbn	9781509026050	en_US
dc.identifier.uri	http://hdl.handle.net/10453/47143
dc.description.abstract	© 2016 IEEE. Recently, increasing efforts have been focused on the development and adoption of autonomous underwater vehicles (AUVs) for various applications. However, the GPS signals are usually unavailable, the vehicle dynamics is very uncertain, and the complicated vision based localization algorithms may not work well in the underwater environments. Hence, accurate and timely state estimation using low-cost sensors remains a challenge for the control and navigation of AUVs. This paper considers the state estimation problem for underwater vehicle navigation around a cylindrical structure. The vehicle is assumed to be equipped with only low-cost sensors: an inertia measurement unit (IMU), a pressure sensor and a monocular camera. By exploiting the prior knowledge on the size and shape of the structure, an efficient algorithm for estimating the state of the AUV is developed without using any dynamic model. Firstly, a state observer is proposed under the condition that the localization result (rotational and translational position) is available. Next, we present a method for localization based on the IMU readings, pressure sensor readings and the image of the cylindrical structure, which uses the geometry of the structure and only requires simple image processing (line extraction). Then we prove that the proposed observer is globally stable. Preliminary experimental results and simulation results are reasonable and promising, which implies the proposed method has potential to be used in the real AUV navigation applications.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016	en_US
dc.relation.isbasedon	10.1109/ICIEA.2016.7603559	en_US
dc.title	A method of state estimation for underwater vehicle navigation around a cylindrical structure	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

© 2016 IEEE. Recently, increasing efforts have been focused on the development and adoption of autonomous underwater vehicles (AUVs) for various applications. However, the GPS signals are usually unavailable, the vehicle dynamics is very uncertain, and the complicated vision based localization algorithms may not work well in the underwater environments. Hence, accurate and timely state estimation using low-cost sensors remains a challenge for the control and navigation of AUVs. This paper considers the state estimation problem for underwater vehicle navigation around a cylindrical structure. The vehicle is assumed to be equipped with only low-cost sensors: an inertia measurement unit (IMU), a pressure sensor and a monocular camera. By exploiting the prior knowledge on the size and shape of the structure, an efficient algorithm for estimating the state of the AUV is developed without using any dynamic model. Firstly, a state observer is proposed under the condition that the localization result (rotational and translational position) is available. Next, we present a method for localization based on the IMU readings, pressure sensor readings and the image of the cylindrical structure, which uses the geometry of the structure and only requires simple image processing (line extraction). Then we prove that the proposed observer is globally stable. Preliminary experimental results and simulation results are reasonable and promising, which implies the proposed method has potential to be used in the real AUV navigation applications.

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http://hdl.handle.net/10453/47143