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Autonomous Acoustic-Aided Optical Localization for Data Transfer

Dr. James C. Kinsey

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Introduction

  • Data muling description

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  • Dual system approach
    • Acoustic for long range search, low-power, low-bandwidth
    • Optical for short range centering, high-power, high-bandwidth

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  • Simulation and field trials

Image Courtesy of Norm Farr, WHOI

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System Description

  • Operational AUV, Sentry

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  • Minor changes to vehicle control system

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  • Flexible levels of autonomy

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  • Full control from ship

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  • Hardware agnostic

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Localization Process

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Acoustic Localization

  • Range calculated from TOF at AUV locations gives sphere of possible lander locations.

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  • Calculate intersections of spheres from distinct AUV positions

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  • Determine statistical center and shift vehicle so data transfer circle occurs over lander

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Optical Centering

  • Circle around the acoustically determined location

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  • Divide circle into sectors and measure optical power

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  • Slowly shift circle center to maximize optical power in all sectors

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  • Optimizes data transfer speed

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Simulation and Field Trials

  • Fully simulate with randomly generated noise, bias, and lander location

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  • 3 Dives on Juan de Fuca to 1500-2300 m

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  • First two dives were optical mapping missions. Replay logs to develop optical pattern.

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Tipping Point Demonstrated in Simulation

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Conclusion

  • Optical centering relaxes localization constraints

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  • Easily extended to optical-only localization (quiet)

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  • Enables unsupervised data muling missions with unknown or shifting target

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Thanks

  • Coauthors: Johanna Hansen, Dehann Fourie, James C. Kinsey, Clifford Pontbriand, John Ware1, Norm Farr, Carl L. Kaiser, and Maurice Tivey

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  • Sentry team and the crew of the R/V Atlantis

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  • National Science Foundation CE-0926849 and OCE- 1036843