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| − | ==1 Title, abstract and keywords== | + | ==Abstract== |
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| − | Your document should start with a concise and informative title. Titles are often used in information-retrieval systems. Avoid abbreviations and formulae where possible. Capitalize the first word of the title.
| + | Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Autonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [2]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suitable acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL) buoy to aid the navigation of AUVs. |
| | + | At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter has been adopted to deal with the nonlinearities of the sensor housed on the buoy. A validation of the measurement filtering with data obtained from experimental tests is also proposed. |
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| − | Provide a maximum of 6 keywords, and avoiding general and plural terms and multiple concepts (avoid, for example, 'and', 'of'). Be sparing with abbreviations: only abbreviations firmly established in the field should be used. These keywords will be used for indexing purposes.
| + | ==Presentation== |
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| − | An abstract is required for every document; it should succinctly summarize the reason for the work, the main findings, and the conclusions of the study. Abstract is often presented separately from the article, so it must be able to stand alone. For this reason, references and hyperlinks should be avoided. If references are essential, then cite the author(s) and year(s). Also, non-standard or uncommon abbreviations should be avoided, but if essential they must be defined at their first mention in the abstract itself.
| + | <pdf>Media:Draft_Pagliai_844336476_9183_MARINE17.pdf</pdf> |
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| − | ==2 The main text== | + | ==References== |
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| − | You can enter and format the text of this document by selecting the ‘Edit’ option in the menu at the top of this frame or next to the title of every section of the document. This will give access to the visual editor. Alternatively, you can edit the source of this document (Wiki markup format) by selecting the ‘Edit source’ option.
| + | <span id='_Ref449083719'></span> |
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| | + | [1] B. Siciliano, L. Sciavicco, L. Villani, "Robotics: modelling, planning and control", Springer, London, (2009). |
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| − | Most of the documents in Scipedia are written in English (write your manuscript in American or British English, but not a mixture of these). Anyhow, specific publications in other languages can be published in Scipedia. In any case, the documents published in other languages must have an abstract written in English.
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| | + | [2] B. Allotta, A. Caiti, R. Costanzi, F. Fanelli, D. Fenucci, E. Meli and A. Ridolfi, "A new Autonomous Underwater Vehicle navigation system exploiting Unscented Kalman Filter", Ocean Engineering, Vol. 113, pages 121 - 132, (2016). |
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| − | ===2.1 Subsections=== | + | <div id="1"></div> |
| | + | [3] L. Christensen, M. Fritsche, J. Albiez and F. Kirchner, USBL pose estimation using multiple responders, In Proceedings MTS/IEEE Conference and Exhibition, OCEANS 2010, Sidney, |
| | + | (2010). |
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| − | Divide your article into clearly defined and numbered sections. Subsections should be numbered 1.1, 1.2, etc. and then 1.1.1, 1.1.2, ... Use this numbering also for internal cross-referencing: do not just refer to 'the text'. Any subsection may be given a brief heading. Capitalize the first word of the headings.
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| | + | [4] S. F. Schmidt, "Applications of State Space Methods to navigation problems" in C. T. Leondes, Editor, Advanced Control Systems, Vol. 3, pag. 293 - 340, (1966). |
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| − | ===2.2 General guidelines=== | + | <div id="1"></div> |
| | + | [5] R. D. Christ and R. L. Wernli Sr, "The ROV manual", Butterworth-Heinemann, Oxford, (2007). |
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| − | Some general guidelines that should be followed in your manuscripts are:
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| | + | [6] P. H. Milne, "Underwater acoustic positioning systems", Spon London, (1983). |
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| − | :* Avoid hyphenation at the end of a line.
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| − | :* Symbols denoting vectors and matrices should be indicated in bold type. Scalar variable names should normally be expressed using italics.
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| − | :* Use decimal points (not commas); use a space for thousands (10 000 and above).
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| − | :* Follow internationally accepted rules and conventions. In particular use the international system of units (SI). If other quantities are mentioned, give their equivalent in SI.
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| − | ===2.3 Tables, figures, lists and equations===
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| − | Please insert tables as editable text and not as images. Tables should be placed next to the relevant text in the article. Number tables consecutively in accordance with their appearance in the text (<span id='cite-_Ref382560620'></span>[[#_Ref382560620|table 1]], table 2, etc.) and place any table notes below the table body. Be sparing in the use of tables and ensure that the data presented in them do not duplicate results described elsewhere in the article.
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| − | {| style="margin: 1em auto 1em auto;border: 1pt solid black;border-collapse: collapse;"
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| − | | style="text-align: center;"|Thickness
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| − | | style="text-align: center;"|3.175 mm
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| − | | style="text-align: center;"|Young Modulus
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| − | | style="text-align: center;"|12.74 MPa
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| − | | style="text-align: center;"|Poisson coefficient
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| − | | style="text-align: center;"|0.25
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| − | | style="text-align: center;"|Density
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| − | | style="text-align: center;"|1107 kg/m<sup>3</sup>
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| − | <div class="center" style="width: auto; margin-left: auto; margin-right: auto;">
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| − | <span style="text-align: center; font-size: 75%;">Table 1: Material properties</span></div>
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| − | Graphics may be inserted directly in the document and positioned as they should appear in the final manuscript.
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| − | [[Image:Scipedia.gif|center|480px]]
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| − | <div class="center" style="width: auto; margin-left: auto; margin-right: auto;">
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| − | <span style="text-align: center; font-size: 75%;">Figure 1. Scipedia logo.</span></div>
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| − | Number the figures according to their sequence in the text (<span id='cite-_Ref448852946'></span>[[#_Ref448852946|figure 1]], figure 2, etc.). Ensure that each illustration has a caption. A caption should comprise a brief title. Keep text in the illustrations themselves to a minimum but explain all symbols and abbreviations used. Try to keep the resolution of the figures to a minimum of 300 dpi. If a finer resolution is required, the figure can be inserted as supplementary material
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| − | For tabular summations that do not deserve to be presented as a table, lists are often used. Lists may be either numbered or bulleted. Below you see examples of both.
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| − | 1. The first entry in this list
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| − | 2. The second entry
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| − | * Another one
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| − | You may choose to number equations for easy referencing. In that case they must be numbered consecutively with Arabic numerals in parentheses on the right hand side of the page. Below is an example of formulae that should be referenced as eq. <span id='cite-_Ref424030152'></span>[[#_Ref424030152|(1)]].
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| − | | style="vertical-align: top;"| <math>{\nabla }^{2}\phi =0</math>
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| − | | style="text-align: right;"|<span id='_Ref424030152'></span>
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| − | ===2.4 Supplementary material===
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| − | Supplementary material can be inserted to support and enhance your article. This includes video material, animation sequences, background datasets, computational models, sound clips and more. In order to ensure that your material is directly usable, please provide the files with a preferred maximum size of 50 MB. Please supply a concise and descriptive caption for each file.
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| − | ==3 Bibliography==
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| − | Citations in text will follow a citation-sequence system (i.e. sources are numbered by order of reference so that the first reference cited in the document is [<span id='cite-1'></span>[[#1|1]]], the second [<span id='cite-2'></span>[[#2|2]]], and so on) with the number of the reference in square brackets. Once a source has been cited, the same number is used in all subsequent references. If the numbers are not in a continuous sequence, use commas (with no spaces) between numbers. If you have more than two numbers in a continuous sequence, use the first and last number of the sequence joined by a hyphen (e.g. [<span id='cite-1'></span>[[#1|1]], <span id='cite-3'></span>[[#3|3]]] or [<span id='cite-2'></span>[[#2|2]]-<span id='cite-2'></span>[[#4|4]]]).
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| − | You should ensure that all references are cited in the text and that the reference list. References should preferably refer to documents published in Scipedia. Unpublished results should not be included in the reference list, but can be mentioned in the text. The reference data must be updated once publication is ready. Complete bibliographic information for all cited references must be given following the standards in the field (IEEE and ISO 690 standards are recommended). If possible, a hyperlink to the referenced publication should be given. See examples for Scipedia’s articles [<span id='cite-1'></span>[[#1|1]]], other publication articles [<span id='cite-2'></span>[[#2|2]]], books [<span id='cite-3'></span>[[#3|3]]], book chapter [<span id='cite-4'></span>[[#4|4]]], conference proceedings [<span id='cite-5'></span>[[#5|5]]], and online documents [<span id='cite-6'></span>[[#6|6]]], shown in references section below.
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| − | ==4 Acknowledgments==
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| − | Acknowledgments should be inserted at the end of the document, before the references section.
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| − | ==5 References==
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| − | [[#cite-1|[1]]] Author, A. and Author, B. (Year) Title of the article. Title of the Publication. Article code. Available: [http://www.scipedia.com/ucode. http://www.scipedia.com/ucode.] | + | [7] Y. Bar-Shalom, X. Li and T. Kirubarajan, "Estimation with applications to tracking and navigation", John Wiley & Sons, Inc. cop., New York, (2001). |
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| − | <div id="2"></div>
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| − | [[#cite-2|[2]]] Author, A. and Author, B. (Year) Title of the article. Title of the Publication. Volume number, first page-last page.
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| − | [[#cite-3|[3]]] Author, C. (Year). Title of work: Subtitle (edition.). Volume(s). Place of publication: Publisher.
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| − | [[#cite-4|[4]]] Author of Part, D. (Year). Title of chapter or part. In A. Editor & B. Editor (Eds.), Title: Subtitle of book (edition, inclusive page numbers). Place of publication: Publisher.
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| − | [[#cite-5|[5]]] Author, E. (Year, Month date). Title of the article. In A. Editor, B. Editor, and C. Editor. Title of published proceedings. Paper presented at title of conference, Volume number, first page-last page. Place of publication.
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| − | <div id="6"></div>
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| − | [[#cite-6|[6]]] Institution or author. Title of the document. Year. [Online] (Date consulted: day, month and year). Available: [http://www.scipedia.com/document.pdf http://www.scipedia.com/document.pdf]. [Accessed day, month and year].
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Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Autonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [2]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suitable acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL) buoy to aid the navigation of AUVs.
At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter has been adopted to deal with the nonlinearities of the sensor housed on the buoy. A validation of the measurement filtering with data obtained from experimental tests is also proposed.
[1] B. Siciliano, L. Sciavicco, L. Villani, "Robotics: modelling, planning and control", Springer, London, (2009).
[2] B. Allotta, A. Caiti, R. Costanzi, F. Fanelli, D. Fenucci, E. Meli and A. Ridolfi, "A new Autonomous Underwater Vehicle navigation system exploiting Unscented Kalman Filter", Ocean Engineering, Vol. 113, pages 121 - 132, (2016).
[3] L. Christensen, M. Fritsche, J. Albiez and F. Kirchner, USBL pose estimation using multiple responders, In Proceedings MTS/IEEE Conference and Exhibition, OCEANS 2010, Sidney,
(2010).
[4] S. F. Schmidt, "Applications of State Space Methods to navigation problems" in C. T. Leondes, Editor, Advanced Control Systems, Vol. 3, pag. 293 - 340, (1966).
[5] R. D. Christ and R. L. Wernli Sr, "The ROV manual", Butterworth-Heinemann, Oxford, (2007).
[6] P. H. Milne, "Underwater acoustic positioning systems", Spon London, (1983).
[7] Y. Bar-Shalom, X. Li and T. Kirubarajan, "Estimation with applications to tracking and navigation", John Wiley & Sons, Inc. cop., New York, (2001).
