Related papers: Precise Time Delay Measurement and Compensation fo…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…
Precise underwater positioning remains a fundamental challenge for underwater robotics since global navigation satellite system (GNSS) signals cannot penetrate the sea surface. This paper presents Raspi$^2$USBL, an open-source, Raspberry…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
Accurate and continuous localization of Autonomous Underwater Vehicles (AUVs) in GPS-denied environments is a persistent challenge in marine robotics. In the absence of external position fixes, AUVs rely on inertial dead-reckoning, which…
Pervasive localization is essential for continuous tracking applications, yet existing solutions face challenges in balancing power consumption and accuracy. GPS, while precise, is impractical for continuous tracking of micro-assets due to…
Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…
This paper presents AquaSignal, a modular and scalable pipeline for preprocessing, denoising, classification, and novelty detection of underwater acoustic signals. Designed to operate effectively in noisy and dynamic marine environments,…
The accurate navigation of autonomous underwater vehicles critically depends on the precision of Doppler velocity log (DVL) velocity measurements. Recent advancements in deep learning have demonstrated significant potential in improving DVL…
Routing-driven timely data collection in Underwater Acoustic Sensor Networks (UASNs) is crucial for marine environmental monitoring, disaster warning and underwater resource exploration, etc. However, harsh underwater conditions, including…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…
In fiber optic sensing, time delays induced by polarization mode dispersion can distort signals in systems relying on phase or intensity variations for measurement, degrading performance, especially in long distance, high-precision…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model…
In wireless sensor networks (WSNs), implementing a high-precision time synchronization scheme on resource-constrained sensor nodes is a major challenge. Our investigation of the practical implementation on a real testbed of the…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…