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

Yevgeni Gutnik; Nadav Cohen; Itzik Klein; Morel Groper

doi:10.1109/UT49729.2023.10103448

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	2023 IEEE International Symposium on Underwater Technology, UT 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350331752
DOIs	https://doi.org/10.1109/UT49729.2023.10103448
State	Published - 2023
Event	2023 IEEE International Symposium on Underwater Technology, UT 2023 - Tokyo, Japan Duration: 6 Mar 2023 → 9 Mar 2023

Publication series

Name	2023 IEEE International Symposium on Underwater Technology, UT 2023

Conference

Conference	2023 IEEE International Symposium on Underwater Technology, UT 2023
Country/Territory	Japan
City	Tokyo
Period	6/03/23 → 9/03/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Underwater navigation
electromagnetic sensing
underwater docking

ASJC Scopus subject areas

Oceanography
Automotive Engineering
Acoustics and Ultrasonics
Instrumentation

Access to Document

10.1109/UT49729.2023.10103448

Cite this

Gutnik, Y., Cohen, N., Klein, I., & Groper, M. (2023). Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon. In 2023 IEEE International Symposium on Underwater Technology, UT 2023 (2023 IEEE International Symposium on Underwater Technology, UT 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UT49729.2023.10103448

Gutnik, Yevgeni ; Cohen, Nadav ; Klein, Itzik et al. / Data-Driven Underwater Navigation workshop : AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon. 2023 IEEE International Symposium on Underwater Technology, UT 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Symposium on Underwater Technology, UT 2023).

@inproceedings{1a7e18127b34459ea14df0146a184ba3,

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

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.",

keywords = "Underwater navigation, electromagnetic sensing, underwater docking",

author = "Yevgeni Gutnik and Nadav Cohen and Itzik Klein and Morel Groper",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Symposium on Underwater Technology, UT 2023 ; Conference date: 06-03-2023 Through 09-03-2023",

year = "2023",

doi = "10.1109/UT49729.2023.10103448",

language = "English",

series = "2023 IEEE International Symposium on Underwater Technology, UT 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 IEEE International Symposium on Underwater Technology, UT 2023",

address = "United States",

}

Gutnik, Y, Cohen, N, Klein, I & Groper, M 2023, Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon. in 2023 IEEE International Symposium on Underwater Technology, UT 2023. 2023 IEEE International Symposium on Underwater Technology, UT 2023, Institute of Electrical and Electronics Engineers Inc., 2023 IEEE International Symposium on Underwater Technology, UT 2023, Tokyo, Japan, 6/03/23. https://doi.org/10.1109/UT49729.2023.10103448

Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon. / Gutnik, Yevgeni; Cohen, Nadav; Klein, Itzik et al.
2023 IEEE International Symposium on Underwater Technology, UT 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Symposium on Underwater Technology, UT 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Data-Driven Underwater Navigation workshop

T2 - 2023 IEEE International Symposium on Underwater Technology, UT 2023

AU - Gutnik, Yevgeni

AU - Cohen, Nadav

AU - Klein, Itzik

AU - Groper, Morel

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Underwater navigation

KW - electromagnetic sensing

KW - underwater docking

UR - http://www.scopus.com/inward/record.url?scp=85159282099&partnerID=8YFLogxK

U2 - 10.1109/UT49729.2023.10103448

DO - 10.1109/UT49729.2023.10103448

M3 - Conference contribution

AN - SCOPUS:85159282099

T3 - 2023 IEEE International Symposium on Underwater Technology, UT 2023

BT - 2023 IEEE International Symposium on Underwater Technology, UT 2023

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 6 March 2023 through 9 March 2023

ER -

Gutnik Y, Cohen N, Klein I , Groper M. Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon. In 2023 IEEE International Symposium on Underwater Technology, UT 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 IEEE International Symposium on Underwater Technology, UT 2023). doi: 10.1109/UT49729.2023.10103448

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

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this