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Meeting	ACGS Committee Meeting 107 - Boulder - March 2011
Agenda Location	8 SUBCOMMITTEE E – FLIGHT, PROPULSION, AND AUTONOMOUS VEHICLE CONTROL SYSTEMS 8.4 Feature-based Navigation of an Autonomous Underwater Vehicle (AUV)
Title	Feature-based Navigation of an Autonomous Underwater Vehicle (AUV)
Presenter	Christian Debrunner
Affiliation	Lockheed Martin
Available Downloads*	presentation
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Abstract	Christian Debrunner Lockheed Martin Abstract Under the Oil platform Inspection System (OPIS) program, a Lockheed Martin AUV, the MARLIN(TM), is being outfitted with a mission package which includes a 3D imaging sonar and processors in order to inspect and build 3D models of oil platforms, and to detect large scale damage to these platforms relative to a reference model. A key component of this model building and change detection functionality is a process by which sonar data is aligned to the reference model and the vehicle/sensor pose is recovered. An interesting by-product of this is the use of this recovered pose for feature based navigation. This paper presents a method to fuse the estimated pose from an inertial navigation system with the pose recovered from the alignment of sonar data with a reference model, and the use of this fused estimate in 3D model building and change detection, and to improve inertial navigation performance. While the technology is developed for an underwater platform inspection system, the methods have broader applicability. Simulation results are presented to demonstrate the performance of the feature-based navigation system.