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AUV navigation correction based on automated multibeam tile matching
Mohrmann, J.; Greinert, J. (2022). AUV navigation correction based on automated multibeam tile matching. Sensors 22(3): 954. https://dx.doi.org/10.3390/s22030954
In: Sensors. MDPI: Basel. e-ISSN 1424-8220, more
Peer reviewed article  

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Keyword
    Marine/Coastal
Author keywords
    multibeam; bathymetric data; MBES; deep sea; terrain based navigation; AUV

Authors  Top 
  • Mohrmann, J.
  • Greinert, J., more

Abstract
    Ocean science and hydroacoustic seafloor mapping rely on accurate navigation underwater. By exploiting terrain information provided by a multibeam echosounder system, it is possible to significantly improve map quality. This article presents an algorithm capable of improving map quality and accuracy by aligning consecutive pings to tiles that are matched pairwise. A globally consistent solution is calculated from these matches. The proposed method has the potential to be used online in addition to other navigation solutions, but is mainly targeted for post processing. The algorithm was tested using different parameter settings on an AUV and a ship-based dataset. The ship-based dataset is publicly available as a benchmark. The original accurate navigation serving as a ground truth, alongside trajectories that include an artificial drift, are available. This allows quantitative comparisons between algorithms and parameter settings.

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