Subsea cable tracking by an unmanned surface vehicle
Date
2015-03-01Author
Szyrowski, T
Motwani, A
Sharma, SK
Sutton, R
Kennedy, GA
Subject
batch particle filtering subsea cable tracking weighted interval kalman filtering fuzzy logic
Metadata
Show full item recordAbstract
Subsea cable localisation is a demanding task that requires a lot of time, effort and expense. In the present paper the authors propose a methodology that is automated and inexpensive, based on magnetic detection from a small unmanned surface vehicle (USV) and the use of a batch particle filter (BPF) algorithm. A dynamic path planning algorithm for the USV is also developed so that adequate samples of the magnetic field readings can be gathered for processing by the BPF. All of these elements work together online as the cable is tracked, which was demonstrated in a simulated mission.
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Publisher
Society for Underwater Technology
Journal
Underwater Technology: International Journal of the Society for Underwater
Volume
32
Issue
4
Pagination
217-229
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