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The Icefin vehicle is a novel, custom under-ice unmanned underwater vehicle. This vehicle was designed for polar sub-ice deployment and was deployed to McMurdo, Antarctica in November of 2014. An overview of the unique vehicle design is presented here, along with a summary of the deployment testing in Antarctica. Lessons learned from this deployment provided an opportunity for design improvements...
Localization and navigation in an under-ice underwater environment presents a difficult challenge. GPS, the standard means of localization for aerial and terrestrial vehicles, is not available underwater. Common underwater navigation solutions such as compass sensors and acoustic triangulation are not available under the ice or require overwhelming support infrastructure. Decreased localization error...
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