Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial navigation system and the Doppler velocity log sensor (DVL). The latter measures four beam velocities to estimate the vehicle's velocity vector. In real-world scenarios, the DVL may receive less than three beam velocities if the AUV operates in complex underwater environments. In such conditions, the vehicle's velocity vector could not be estimated leading to a navigation solution drift and in some situations the AUV is required to abort the mission and return to the surface. To circumvent such a situation, in this paper we propose a deep learning framework, LiBeamsNet, that utilizes the inertial data and the partial beam velocities to regress the missing beams in two missing beams scenarios. Once all the beams are obtained, the vehicle's velocity vector can be estimated. The approach performance was validated by sea experiments in the Mediterranean Sea. The results show up to 7.2 % speed error in the vehicle's velocity vector estimation in a scenario that otherwise could not provide an estimate.
|Title of host publication||OCEANS 2022 Hampton Roads|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - 2022|
|Event||2022 OCEANS Hampton Roads, OCEANS 2022 - Hampton Roads, United States|
Duration: 17 Oct 2022 → 20 Oct 2022
|Name||Oceans Conference Record (IEEE)|
|Conference||2022 OCEANS Hampton Roads, OCEANS 2022|
|Period||17/10/22 → 20/10/22|
Bibliographical noteFunding Information:
ACKNOWLEDGMENTS N.C. is supported by the Maurice Hatter Foundation.
© 2022 IEEE.
- Autonomous underwater vehicle (AUV)
- Deep Learning
- Doppler velocity log (DVL)
- Inertial navigation system (INS)
ASJC Scopus subject areas
- Ocean Engineering