Terminal Phase Navigation for AUV Docking: An Innovative Electromagnetic Approach

This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during the terminal guidance phase of an autonomous underwater vehicle (AUV) as it approaches an omnidirectional docking component in an automated deplo...

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Bibliographic Details
Published in:Journal of marine science and engineering 2024-01, Vol.12 (1), p.192
Main Authors: Gutnik, Yevgeni, Groper, Morel
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Autonomous underwater vehicles
AUV navigation
Docking
electromagnetic guidance
Electromagnetism
Guidance systems
launch and recovery
Localization
Magnetic fields
magnetometer
Methods
Navigation
Prototypes
Real time
Remote submersibles
Sensors
Signal processing
Simulation methods
Terminal guidance
underwater docking
Underwater vehicles
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Description
Summary:This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during the terminal guidance phase of an autonomous underwater vehicle (AUV) as it approaches an omnidirectional docking component in an automated deployable launch and recovery system (LARS). Using the AUV’s magnetometer, an economical electromagnetic beacon embedded in the docking component, and an advanced signal processing algorithm, this novel approach ensures the accurate localization of the docking component in three dimensions without the need for direct line-of-sight contact. The method’s real-time capabilities were rigorously evaluated via simulations, prototype experiments in a controlled lab setting, and extensive full-scale pool experiments. These assessments consistently demonstrated an exceptional average positioning accuracy of under 3 cm, marking a significant advancement in AUV guidance systems.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12010192