Geodetic Seafloor Positioning Using an Unmanned Surface Vehicle—Contribution of Direction-of-Arrival Observations

You are here: Homepage > Search

Geodetic Seafloor Positioning Using an Unmanned Surface Vehicle—Contribution of Direction-of-Arrival Observations

Free access

Sakic, Pierre / Chupin, Clémence / Ballu, Valérie / Coulombier, Thibault / Morvan, Pierre-yves / Urvoas, Paul / Beauverger, Mickael / Royer, Jean-yves

Abstract

Precise underwater geodetic positioning remains a challenge. Measurements combining surface positioning (GNSS) with underwater acoustic positioning are generally performed from research vessels. Here we tested an alternative approach using a small Unmanned Surface Vehicle (USV) with a compact GNSS/Acoustic experimental set-up, easier to deploy, and more cost-effective. The positioning system included a GNSS receiver directly mounted above an Ultra Short Baseline (USBL) module integrated with an inertial system (INS) to correct for the USV motions. Different acquisition protocols, including box-in circles around transponders and two static positions of the USV, were tested. The experiment conducted in the shallow waters (40 m) of the Bay of Brest, France, provided a data set to derive the coordinates of individual transponders from two-way-travel times, and direction of arrival (DOA) of acoustic rays from the transponders to the USV. Using a least-squares inversion, we show that DOAs improve single transponder positioning both in box-in and static acquisitions. From a series of short positioning sessions (20 min) over 2 days, we achieved a repeatability of ~5 cm in the locations of the transponders. Post-processing of the GNSS data also significantly improved the two-way-travel times residuals compared to the real-time solution.

Access

Download

Export, share and cite

Document information

Title :

Geodetic Seafloor Positioning Using an Unmanned Surface Vehicle—Contribution of Direction-of-Arrival Observations

Contributors:

Sakic, Pierre (author) / Chupin, Clémence (author) / Ballu, Valérie (author) / Coulombier, Thibault (author) / Morvan, Pierre-yves (author) / Urvoas, Paul (author) / Beauverger, Mickael (author) / Royer, Jean-yves (author)

Publication date :

2021-04-01

Remarks:

Frontiers In Earth Science (2296-6463) (Frontiers Media SA), 2021-04 , Vol. 9 , P. 636156 (16p.)

DOI :

https://doi.org/10.3389/feart.2021.636156

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English