Abstract
The estimation of position and orientation of underwater agents is the basis for control, guidance and mapping tasks. We present a solution for a team of submerged marine agents for a specific scenario. The concept takes advantage of the distribution of the single agents, with one of them at the surface to access GPS measurements. The submerged units use data from a USBL unit, local sensors, and acoustic communication and employ a set of filters to perform relative navigation. We will describe the concept and show results of HIL simulation as precondition for upcoming sea trials.
Zusammenfassung
Die Schätzung von Position und Orientierung von Unterwasseragenten stellt die Voraussetzung dar für Regelungs-, Führungs- und Kartographierungsaufgaben. Wir präsentieren eine Lösung für ein Team aus getauchten maritimen Agenten in einem spezifischen Szenario. Das Konzept zieht Vorteile aus der Verteilung der einzelnen Agenten, von denen sich einer zwecks GPS-Zugriffs an der Meeresoberfläche befindet. Die getauchten Einheiten verwenden Daten von einem USBL-System, lokalen Sensoren und aus akustischer Kommunikation und setzen eine Reihe von Filtern ein zur Durchführung von relativer Navigation. Wir werden das Konzept beschreiben und Resultate aus HIL-Simulationen zeigen, welche eine Voraussetzung für die anstehenden Seeversuche sind.
About the authors
Dr.-Ing. Thomas A. Glotzbach is with Technische Universität Ilmenau since 2011 as senior engineer in preparation of his Habilitation, with a focus on navigation for multiple unmanned marine vehicles with employment in real unstructured, 3D environments as well as team mission planning for scenarios without a priori known vehicle paths and event driven planning paradigms.
Institute for Automation and Systems Engineering, Technische Universität Ilmenau, P.O. Box 10 05 65, 98684 Ilmenau, Germany
Dipl.-Ing. Sebastian Eckstein graduated in 2012 at Technische Universität Ilmenau in the area of Simultaneous Localization And Mapping (SLAM) for a land-robot. Since 2012 he is PhD student in Ilmenau withhis focus is on Robust Team Mission Planning for marine robot teams.
Institute for Automation and Systems Engineering, Technische Universität Ilmenau, P.O. Box 10 05 65, 98684 Ilmenau, Germany
Prof. Dr.-Ing. habil. Christoph Ament is head of the Systems Analysis Group and the Institute for Automation and Systems Engineering of the Technische Universität Ilmenau. He advises the Embedded Systems Group at the Advanced System Technology (AST) Branch of Fraunhofer IOSB in Ilmenau. His research interests are modeling, diagnosis and management of mechatronic, mobile and physiological systems.
Institute for Automation and Systems Engineering, Technische Universität Ilmenau, P.O. Box 10 05 65, 98684 Ilmenau, Germany
Acknowledgement
This research was supported in part by the Collaborative Project `MORPH' (N°288704), founded by the 7th European Community Framework Programme.
The authors would like to thank all partners within the MORPH project, especially the Instituto Superior Técnico, Lisbon, Portugal (Prof. A. Pascoal), for the fruitful discussions and the providing of their imense experience in sea trials.
©2015 Walter de Gruyter Berlin/Boston
