Title: AUV Geophysical Navigation using Magnetic Data - the MEDUSA GN System
Author(s): João Quintas, Francisco Curado Teixeira, António Pascoal
Published in: Proceedings of IEEE/ION PLANS 2018
April 23 - 26, 2018
Hyatt Regency Hotel
Monterey, CA
Pages: 1122 - 1130
Cite this article: Quintas, João, Teixeira, Francisco Curado, Pascoal, António, "AUV Geophysical Navigation using Magnetic Data - the MEDUSA GN System," Proceedings of IEEE/ION PLANS 2018, Monterey, CA, April 2018, pp. 1122-1130.
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Abstract: This paper reports recent advances on the development of geophysical navigation (GN) algorithms for small, affordable autonomous underwater vehicles. The successful results obtained by the authors during prior work on magnetic-based GN algorithms (MAGNAV), tested in computer simulations, motivated the implementation of a GN module to be incorporated in the Robotic Operating System (ROS) installed on an autonomous marine vehicle of the MEDUSA class. The development work included: acquisition of prior magnetic maps in an offshore area of Lisbon; execution of data-acquisition tests using a MEDUSA vehicle equipped with a towed magnetometer; development of a medusa gn package and testing of its capabilities as a GN module of the ROS system installed on-board MEDUSA. A realistic assessment of the performance of the MAGNAV method was performed in simulations by exploiting, for the first time, the ROS capability of playing back the recorded data as if the vehicle were operating in real-time. The results obtained in the present work confirm the good performance of the MAGNAV filter observed in previous tests in terms of vehicle position estimation and pave the way for a new series of tests aimed at the validation of GN algorithms in real-time navigation experiments.