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Using sonar to detect submarines was an effective method. Current technologies, however, have made it possible for submarines to thwart standard (active or passive) sonar mechanisms [1]. Thus, finding alternatives to detect submarines becomes important and timely. One viable alternative is to use magnetic or acoustic sensors in close proximity of possible underwater pathways a submarine may pass through...
This paper presents a new ultra-short baseline (USBL) tightly-coupled integration technique to enhance error estimation in low-cost strap-down inertial navigation systems (INSs) with application to underwater vehicles. In the proposed strategy the acoustic array spatial information is directly exploited resorting to the extended Kalman filter implemented in a direct feedback structure. The determination...
Unmanned underwater vehicles (UUVs) are increasingly being used in a diverse range of applications. In one particular application, we analyze UUV operations for location, detection and classification of mines. The mission objective is to search the area of interest, using underwater imaging sensors such as side scan sonars, until either the first mine is located, or it is verified that none can be...
One form of cooperative behavior for a group of AUVs is to fly in formation while performing tasks. A necessary component for formation-flying is that the vehicles must sense their relative positions. Assuming that each vehicle is capable of sensing its inertial position, using an acoustic long-baseline ranging system, the relative vehicle position can be determined by exchanging this data. The penalty...
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