Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon

Yevgeni Gutnik, Nadav Cohen, Itzik Klein, Morel Groper

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

AUV's navigation is primarily based on acoustic sensors (e.g. sonars) and inertial navigation systems (INS). However, acoustic sensors provide a relatively low resolution and slow update rate images while INS systems suffer from drift and noise. Consequently, those sensors are insufficient to support tasks that require precise navigation and localization, such as autonomous intervention and docking. Electromagnetic (EM)-based navigation offers accurate navigation and localization at high rates; it is not affected by poor visibility, nor does it require line-of-sight between the sensor and the reference point. This study proposes a method for precise close-range localization of an AUV by employing a beacon and an onboard magnetometer. The localization solution was optimized by deep-learning method.

Original languageAmerican English
Title of host publication2023 IEEE International Symposium on Underwater Technology, UT 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350331752
DOIs
StatePublished - 2023
Event2023 IEEE International Symposium on Underwater Technology, UT 2023 - Tokyo, Japan
Duration: 6 Mar 20239 Mar 2023

Publication series

Name2023 IEEE International Symposium on Underwater Technology, UT 2023

Conference

Conference2023 IEEE International Symposium on Underwater Technology, UT 2023
Country/TerritoryJapan
CityTokyo
Period6/03/239/03/23

Keywords

  • Underwater navigation
  • electromagnetic sensing
  • underwater docking

All Science Journal Classification (ASJC) codes

  • Instrumentation
  • Oceanography
  • Automotive Engineering
  • Acoustics and Ultrasonics

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