Typhoon at CommsNet13: Experimental experience on AUV navigation and localization

This paper presents two acoustic-based techniques for Autonomous Underwater Vehicle (AUV) navigation within an underwater network of fixed sensors. The proposed algorithms exploit the positioning measurements provided by an Ultra-Short Base Line (USBL) transducer on-board the vehicle to aid the navigation task. In the considered framework the acoustic measurements are embedded in the communication network scheme, causing time-varying delays in ranging with the fixed nodes. The results presented are obtained with post-processing elaborations of the raw experimental data collected during the CommsNet13 campaign, organized and scientifically led by the NATO Science and Technology Organization Centre for Maritime Research and Experimentation (CMRE). The experiment involved several research institutions and included among its objectives the evaluation of on-board acoustic USBL systems for navigation and localization of AUVs. The ISME groups of the Universities of Florence and Pisa jointly participated to the experiment with one Typhoon class vehicle. This is a 300 m depth rated AUV with acoustic communication capabilities originally developed by the two groups for archaeological search in the framework of the THESAURUS project. The CommsNet13 Typhoon, equipped with an acoustic modem/USBL head, navigated within the fixed nodes acoustic network deployed by CMRE. This allows the comparison between inertial navigation, acoustic self-localization and ground truth represented by GPS signals (when the vehicle was at the surface)