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Towards improvement of autonomous glider navigation accuracy through the use of regional ocean models

Smith, Ryan N., Kelly, Jonathan , Chao, Yi , Jones, Burton H. , & Sukhatme, Gaurav S. (2010) Towards improvement of autonomous glider navigation accuracy through the use of regional ocean models. In Proceedings of the 29th International Conference on OCean, Offshore and Arctic Engineering, ASME - American Society Mechanical Engineering, Grand Hyatt Hotel, Shanghai, China, pp. 597-606.

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    Abstract

    Autonomous underwater gliders are robust and widely-used ocean sampling platforms that are characterized by their endurance, and are one of the best approaches to gather subsurface data at the appropriate spatial resolution to advance our knowledge of the ocean environment. Gliders generally do not employ sophisticated sensors for underwater localization, but instead dead-reckon between set waypoints. Thus, these vehicles are subject to large positional errors between prescribed and actual surfacing locations. Here, we investigate the implementation of a large-scale, regional ocean model into the trajectory design for autonomous gliders to improve their navigational accuracy. We compute the dead-reckoning error for our Slocum gliders, and compare this to the average positional error recorded from multiple deployments conducted over the past year. We then compare trajectory plans computed on-board the vehicle during recent deployments to our prediction-based trajectory plans for 140 surfacing occurrences.

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    ID Code: 40121
    Item Type: Conference Paper
    Keywords: Autonomous Underwater Vehicle, Ocean modeling, Path Planning, Kalman filter
    Subjects: Australian and New Zealand Standard Research Classification > EARTH SCIENCES (040000) > OCEANOGRAPHY (040500) > Physical Oceanography (040503)
    Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2010 ASME
    Deposited On: 28 Mar 2011 08:09
    Last Modified: 11 Aug 2011 03:41

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