Underwater Localization System Combining iUSBL with Dynamic SBL in ¡VAMOS! Trials

Area of Science:

• Marine robotics
• Underwater navigation
• Geophysical exploration

Background:

• Underwater mining in flooded open pit mines presents unique localization challenges.
• Standard acoustic positioning methods are often inadequate for these complex environments.
• Real-time, multi-asset positioning is essential for operational success.

Purpose of the Study:

• To develop and validate a novel underwater localization solution for the VAMOS! project.
• To address the limitations of existing positioning techniques in cluttered underwater mining scenarios.
• To achieve accurate 6-DOF localization of an underwater mining vehicle.

Main Methods:

• Fusion of Inertial Measurement Unit (IMU) data, pressure, SBL ranges, and iUSBL directional angles using an Extended Kalman Filter (EKF).
• Indirect estimation of sensor bias and sound speed within the EKF.
• Implementation of a data association layer and dynamic SBL master selection to mitigate acoustic outliers and multipath reflections.

Main Results:

• Successful field demonstration of the novel localization technique during VAMOS! underwater mining trials.
• Accurate 6-DOF localization of the underwater mining vehicle was achieved.
• Effective mitigation of acoustic outliers in challenging, confined environments.

Conclusions:

• The combined SBL and iUSBL system provides a robust solution for underwater localization in mining applications.
• The developed EKF-based fusion approach enhances positioning accuracy and reliability.
• This technique offers a significant advantage for real-time asset tracking in complex underwater operations.