Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors

TL;DR

This paper presents a novel underwater positioning system for ROVs in confined environments, combining multi-beam sonar and depth sensors, validated through simulation and mock-up experiments, enabling accurate navigation without fixed infrastructure.

Contribution

The paper introduces a new collaborative positioning system for underwater ROVs that operates in confined environments without relying on environmental features or fixed infrastructure.

Findings

Validated in high-fidelity simulation and industrial tank mock-up

Achieves accurate ROV positioning without environmental feature tracking

Demonstrates practical deployability in real-world scenarios

Abstract

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for real-world use in confined underwater environments, unconstrained by environmental lighting and water turbidity levels, and have sufficient accuracy for reliable and repeatable navigation. This shortage presents a significant barrier to enhancing the capabilities of remotely operated vehicles (ROVs) in such scenarios. This paper introduces an innovative positioning system for ROVs operating in confined, cluttered underwater settings, achieved through the collaboration of an omnidirectional surface vehicle and an underwater ROV. A mathematical formulation based on the available sensors is proposed and evaluated. Experimental results from both a high-fidelity simulation environment and a mock-up of an industrial tank provide a proof of principle for the system and demonstrate its practical deployability in real-world scenarios. Unlike many previous approaches, the system does not rely on fixed infrastructure or tracking of features in the environment and can cover large enclosed areas without additional equipment.