Adaptive sensor fusion applied to AUV navigation

• Grant number: 18/14024-2
• Support Opportunities: Regular Research Grants
• Start date: December 01, 2018
• End date: February 28, 2021
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Ettore Apolonio de Barros
• Grantee: Ettore Apolonio de Barros
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil
• Associated researchers: Eduardo Lorenzetti Pellini ; Felipe Oliveira e Silva

Abstract

Autonomous underwater vehicles, AUVs, have been widely applied to missions in the fields of oceanography, support to the oil exploration industry, and military applications. For more than one decade, the Unmanned Vehicles Laboratory investigates unmanned aquatic vehicles. In particular, the Pirajuba AUV was created and proposed for a number of studies regarding this kind of technology and its applications in shallow waters (depths up to 100m). This research project approaches one of the main bottlenecks related to the improving and the establishimen of the AUV to a number of applications. That is the AUV navigation system. Methods related to the embedded sensors calibration, and alignment together with the navigation system initialization will be approached. The main mathematical tool that will be investigated for coping with those tasks is the Kalman Filter applied to an adaptive sensor fusion strategy. Together with the investigation of such application of the sensor fusion, the project aims to produce a new unmanned surface vehicle that can be used as a test bed for navigation studies, and to field missions in the oceanographic area. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

FRUTUOSO, ADRIANO; SILVA, FELIPE O.; DE BARROS, ETTORE A.. Influence of Integration Schemes and Maneuvers on the Initial Alignment and Calibration of AUVs: Observability and Degree of Observability Analyses. SENSORS, v. 22, n. 9, p. 21-pg., 2022-05-01. (18/14024-2, 21/13666-3)

NOBREGA DE FREITAS, ARTUR SIQUEIRA; ALVAREZ, ALEXANDER ALFONSO; RAMOS JR, ROBERTO; DE BARROS, ETTORE APOLONIO. Buckling Analysis of an AUV Pressure Vessel with Sliding Stiffeners. JOURNAL OF MARINE SCIENCE AND ENGINEERING, v. 8, n. 7, JUL 2020. (18/14024-2)

SILVA, FELIPE O.; MENEZES FILHO, ROGERIO P.; VIEIRA, LEONARDO A.; KUGA, HELIO K.; DE BARROS, ETTORE A.. Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, v. 43, n. 12, p. 2237-2257, DEC 2020. (18/14024-2)