scholarly journals Sensor Modeling for Underwater Localization Using a Particle Filter

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1549
Author(s):  
Humberto Martínez-Barberá ◽  
Pablo Bernal-Polo ◽  
David Herrero-Pérez
Keyword(s):  
Sequential Monte Carlo ◽  
Sensory Information ◽  
Dead Reckoning ◽  
Underwater Vehicle ◽  
Position Estimation ◽  
Sources Of Uncertainty ◽  
Sensor Signals ◽  
Underwater Navigation ◽  
Underwater Localization ◽  
Sensor Modeling

This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments. Submerged sensory information is often affected by diverse sources of uncertainty that can deteriorate the positioning and tracking. By adopting uncertain modeling and multi-sensor fusion techniques, the framework can maintain a coherent representation of the environment, filtering outliers, inconsistencies in sequential observations, and useless information for positioning purposes. We evaluate the framework using cameras and range sensors for modeling uncertain features that represent the environment around the vehicle. We locate the underwater vehicle using a Sequential Monte Carlo (SMC) method initialized from the GPS location obtained on the surface. The experimental results show that the framework provides a reliable environment representation during the underwater navigation to the localization system in real-world scenarios. Besides, they evaluate the improvement of localization compared to the position estimation using reliable dead-reckoning systems.

scholarly journals Many Ways Lead to the Goal—Possibilities of Autonomous and Infrastructure-Based Indoor Positioning

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 397
Author(s):  
Hossein Shoushtari ◽  
Thomas Willemsen ◽  
Harald Sternberg
Keyword(s):  
Mobile Networks ◽  
Dead Reckoning ◽  
Simulated Data ◽  
Minimum Cost ◽  
Cost Effective ◽  
Satellite System ◽  
Position Estimation ◽  
Robust Solution ◽  
Position Data ◽  
Global Navigation Satellite

There are many ways to navigate in Global Navigation Satellite System-(GNSS) shaded areas. Reliable indoor pedestrian navigation has been a central aim of technology researchers in recent years; however, there still exist open challenges requiring re-examination and evaluation. In this paper, a novel dataset is used to evaluate common approaches for autonomous and infrastructure-based positioning methods. The autonomous variant is the most cost-effective realization; however, realizations using the real test data demonstrate that the use of only autonomous solutions cannot always provide a robust solution. Therefore, correction through the use of infrastructure-based position estimation based on smartphone technology is discussed. This approach invokes the minimum cost when using existing infrastructure, whereby Pedestrian Dead Reckoning (PDR) forms the basis of the autonomous position estimation. Realizations with Particle Filters (PF) and a topological approach are presented and discussed. Floor plans and routing graphs are used, in this case, to support PDR positioning. The results show that the positioning model loses stability after a given period of time. Fifth Generation (5G) mobile networks can enable this feature, as well as a massive number of use-cases, which would benefit from user position data. Therefore, a fusion concept of PDR and 5G is presented, the benefit of which is demonstrated using the simulated data. Subsequently, the first implementation of PDR with 5G positioning using PF is carried out.

scholarly journals Neural Decoding Using a Parallel Sequential Monte Carlo Method on Point Processes with Ensemble Effect

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Kai Xu ◽  
Yiwen Wang ◽  
Fang Wang ◽  
Yuxi Liao ◽  
Qiaosheng Zhang ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Point Process ◽  
Goodness Of Fit ◽  
Point Processes ◽  
Sequential Monte Carlo ◽  
Neuronal Response ◽  
Position Estimation ◽  
Monte Carlo Algorithm ◽  
Sequential Monte Carlo Method ◽  
Proposed Model

Sequential Monte Carlo estimation on point processes has been successfully applied to predict the movement from neural activity. However, there exist some issues along with this method such as the simplified tuning model and the high computational complexity, which may degenerate the decoding performance of motor brain machine interfaces. In this paper, we adopt a general tuning model which takes recent ensemble activity into account. The goodness-of-fit analysis demonstrates that the proposed model can predict the neuronal response more accurately than the one only depending on kinematics. A new sequential Monte Carlo algorithm based on the proposed model is constructed. The algorithm can significantly reduce the root mean square error of decoding results, which decreases 23.6% in position estimation. In addition, we accelerate the decoding speed by implementing the proposed algorithm in a massive parallel manner on GPU. The results demonstrate that the spike trains can be decoded as point process in real time even with 8000 particles or 300 neurons, which is over 10 times faster than the serial implementation. The main contribution of our work is to enable the sequential Monte Carlo algorithm with point process observation to output the movement estimation much faster and more accurately.

Towards the Improvement of Autonomous Glider Navigational Accuracy Through the Use of Regional Ocean Models

2010 ◽  
Author(s):  
Ryan N. Smith ◽  
Jonathan Kelly ◽  
Yi Chao ◽  
Burton H. Jones ◽  
Gaurav S. Sukhatme
Keyword(s):  
Large Scale ◽  
Dead Reckoning ◽  
Ocean Model ◽  
Trajectory Design ◽  
Positional Error ◽  
Underwater Gliders ◽  
Ocean Sampling ◽  
Ocean Environment ◽  
Multiple Deployments ◽  
Underwater Localization

Autonomous underwater gliders are robust and widely-used ocean sampling platforms that are characterized by their endurance, and are one of the best approaches to gather subsurface data at the appropriate spatial resolution to advance our knowledge of the ocean environment. Gliders generally do not employ sophisticated sensors for underwater localization, but instead dead-reckon between set waypoints. Thus, these vehicles are subject to large positional errors between prescribed and actual surfacing locations. Here, we investigate the implementation of a large-scale, regional ocean model into the trajectory design for autonomous gliders to improve their navigational accuracy. We compute the dead-reckoning error for our Slocum gliders, and compare this to the average positional error recorded from multiple deployments conducted over the past year. We then compare trajectory plans computed on-board the vehicle during recent deployments to our prediction-based trajectory plans for 140 surfacing occurrences.

Side Scan Sonar Modeling for Maritime Robotic Operations

2012 ◽  
Vol 152-154 ◽  
pp. 1195-1201
Author(s):  
Kuan Meng Tan ◽  
Tien Fu Lu ◽  
Amir Anvar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Simulation Framework ◽  
Test Bed ◽  
Side Scan Sonar ◽  
Sensor Model ◽  
Sonar Sensor ◽  
Key Aspects ◽  
The University ◽  
Sensor Modeling

One of the key aspects in designing an Autonomous Underwater Vehicle (AUV) simulation framework is sensor modeling. This paper presents specifically the underwater sonar sensor modeling structure used in the proposed AUV simulation framework. This sensor model covers the mathematical aspects from the field of acoustics which mimics real world sensors. Simplified sonar signal models are widely used however rarely discussed in the literature. Based on this designed simulation framework, simple scenario using different sonar configuration is shown and discussed. This paper shows the formulation of a typical side-scan sonar with emphasis on the assumptions which leads to the simplification of the sonar model. The sonar sensor model is built based on a developed AUV test-bed which was done previously in the University of Adelaide.

scholarly journals A single acoustic beacon-based positioning method for underwater mobile recovery of an AUV

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880173 ◽  
Author(s):  
Ziye Zhou ◽  
Yanqing Jiang ◽  
Ye Li ◽  
Cao Jian ◽  
Yeyi Sun
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Dead Reckoning ◽  
Underwater Vehicle ◽  
Doppler Velocity ◽  
Fusion Algorithm ◽  
Time Step ◽  
Short Baseline ◽  
Positioning Method ◽  
One Step ◽  
The One

This article presents a navigation method for an autonomous underwater vehicle being recovered by a human-occupied vehicle. The autonomous underwater vehicle is considered to carry underwater navigation sensors such as ultra-short baseline, Doppler velocity log, and inertial navigation system. Using these sensors’ information, a navigation module combining the ultra-short baseline positioning and inertial positioning is established. In this study, there is assumed to be no communication between the autonomous underwater vehicle and human-occupied vehicle; thus, to obtain the autonomous underwater vehicle position in the inertial coordinate, a conjecture method to obtain the human-occupied vehicle coordinates is proposed. To reduce the error accumulation of autonomous underwater vehicle navigation, a method called one-step dead reckoning positioning is proposed, and the one-step dead reckoning positioning is treated as a correction to combine with ultra-short baseline positioning by a data fusion algorithm. One-step dead reckoning positioning is a positioning method based on the previous time-step coordinates of the autonomous underwater vehicle.

Robust Autopilot Design for Unmanned Underwater Vehicle Based on H∞ Mixed Sensitivity

2012 ◽  
Vol 457-458 ◽  
pp. 764-772 ◽  
Author(s):  
Fang Rong Wang ◽  
Ru Wen Kan ◽  
Shu Nan Liu ◽  
Xu Bin Dong ◽  
Tao Shang ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
System Modeling ◽  
Nonlinear Problems ◽  
Underwater Vehicle ◽  
Unmanned Underwater Vehicle ◽  
Navigation Simulation ◽  
Underwater Navigation ◽  
Three Degrees Of Freedom

As the complexity of marine environment and the existence of uncertain factors along with Unmanned Underwater Vehicle (UUV) dynamics itself bringing many nonlinear problems, it is difficult to control the navigation in accordance with a predetermined trajectory. Based on the UUV dynamics analysis and system modeling, this paper decoupled its control system into three sub-control systems, designed robust autopilot using H∞ mixed sensitivity control algorithm to generate the low-order controller to achieve independent control of three degrees of freedom. Eventually, the underwater navigation simulation results show that the proposed method can provide better control performance and the method is feasible and high efficiency in actual applications.

scholarly journals State Estimation for Mobile Robot using Partially Observable Markov Decision Process

1996 ◽  
Vol 8 (3) ◽  
pp. 272-277
Author(s):  
Daehee Kang ◽  
◽  
Hideki Hashimoto ◽  
Fumio Harashima
Keyword(s):  
Mobile Robot ◽  
Markov Decision Process ◽  
Decision Process ◽  
Dead Reckoning ◽  
Position Estimation ◽  
Estimation Errors ◽  
Markov Decision ◽  
Partially Observable Markov ◽  
Partially Observable ◽  
Robot Position

Dead Reckoning has been commonly used for position estimation. However, this method has inherent problems, one of the biggest being it always cumulates estimation errors. In this paper, we propose a new method to estimate a current mobile robot state using Partially Observable Markov Decision Process (POMDP). POMDP generalizes the Markov Decision Process (MDP) framework to the case where the agent must make its decisions in partial ignorance of its current situation. Here, the robot state means the robot position or current subgoal at which the mobile robot is located. It is shown that we will be able to estimate the mobile robot state precisely and robustly, even if the environment is changed slightly, through a case study.

scholarly journals LLIO: Lightweight Learned Inertial Odometer

2021 ◽  
Author(s):  
Yan Wang ◽  
Jian Kuang ◽  
xiaoji niu
Keyword(s):  
Mobile Devices ◽  
Ground Plane ◽  
Dead Reckoning ◽  
Position Estimation ◽  
Data Driven ◽  
Trajectory Estimation ◽  
Motion Patterns ◽  
Similar Accuracy ◽  
Low Drift ◽  
Pedestrian Dead Reckoning

<div><div>The 3D position estimation of pedestrians is a vital module to build the connections between persons and things.</div><div>The traditional gait model-based methods cannot fulfill the various motion patterns.</div><div>And the various data-driven-based inertial odometry solutions focus on the 2D trajectory estimation on the ground plane, which is not suitable for AR applications.</div><div>TLIO (Tight Learned Inertial Odometry) proposed an inertial-based 3D motion estimator that achieves very low position drift by using the raw IMU measurements and the displacement predict coming from a neural network to provide low drift pedestrian dead reckoning.</div><div>However, TLIO is unsuitable for mobile devices because it is computationally expensive.</div><div>In this paper, a lightweight learned inertial odometry network (LLIO-Net) is designed for mobile devices.</div><div>By replacing the network in TLIO with the LLIO-Net, the proposed system shows similar accuracy but significantly improved efficiency.</div><div>Specifically, the proposed LLIO algorithm was implemented on mobile devices and compared the efficiency with TLIO.</div><div>The inference efficiency of the proposed system is 2-12 times that of TLIO.</div></div>

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