Open AccessPerformance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
Author(s) -
Laughlin D. L. Barker,
Louis L. Whitcomb
Publication year - 2021
Publication title -
journal of marine science and engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.464
H-Index - 22
ISSN - 2077-1312
DOI - 10.3390/jmse9020174
Subject(s) - beacon , sea ice , satellite , environmental science , arctic ice pack , remote sensing , range (aeronautics) , underwater , computer science , geology , meteorology , marine engineering , geodesy , aerospace engineering , engineering , geography , climatology , real time computing , oceanography
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error and uncertainty are examined. Results suggest that increasing the number and/or separation of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship-based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also correlated with reduced estimate uncertainty. Our analysis suggests that the proposed method is feasible and can offer scientifically useful navigation accuracy over a range of operating conditions.