State Estimation for Tracking of Tagged Sharks with an AUV

Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag....

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Main Author: Forney, Christina
Format: Others
Published: DigitalCommons@CalPoly 2011
Subjects:
Online Access:https://digitalcommons.calpoly.edu/theses/664
https://digitalcommons.calpoly.edu/cgi/viewcontent.cgi?article=1704&context=theses
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spelling ndltd-CALPOLY-oai-digitalcommons.calpoly.edu-theses-17042021-09-14T05:01:36Z State Estimation for Tracking of Tagged Sharks with an AUV Forney, Christina Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A particle filter was used for fusing measurements over time to produce a state estimate of the tag location. The particle filter combined with an active control system allowed the system to overcome the ambiguity in the sign of the bearing angle. This state estimator was validated by tracking a stationary tag and moving tag with known positions. These experiments revealed state estimate errors were on par with those obtained by manually driven boat based tracking systems, the current method used for tracking fish and sharks over long distances. Final experiments involved the catching, releasing, and an autonomous AUV tracking of a 1 meter leopard shark (Triakis semifasciata) in SeaPlane Lagoon, Los Angeles, California. 2011-12-01T08:00:00Z text application/pdf https://digitalcommons.calpoly.edu/theses/664 https://digitalcommons.calpoly.edu/cgi/viewcontent.cgi?article=1704&context=theses Master's Theses DigitalCommons@CalPoly Marine Robotics State Estimation Localization Robotics
collection NDLTD
format Others
sources NDLTD
topic Marine Robotics
State Estimation
Localization
Robotics
spellingShingle Marine Robotics
State Estimation
Localization
Robotics
Forney, Christina
State Estimation for Tracking of Tagged Sharks with an AUV
description Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A particle filter was used for fusing measurements over time to produce a state estimate of the tag location. The particle filter combined with an active control system allowed the system to overcome the ambiguity in the sign of the bearing angle. This state estimator was validated by tracking a stationary tag and moving tag with known positions. These experiments revealed state estimate errors were on par with those obtained by manually driven boat based tracking systems, the current method used for tracking fish and sharks over long distances. Final experiments involved the catching, releasing, and an autonomous AUV tracking of a 1 meter leopard shark (Triakis semifasciata) in SeaPlane Lagoon, Los Angeles, California.
author Forney, Christina
author_facet Forney, Christina
author_sort Forney, Christina
title State Estimation for Tracking of Tagged Sharks with an AUV
title_short State Estimation for Tracking of Tagged Sharks with an AUV
title_full State Estimation for Tracking of Tagged Sharks with an AUV
title_fullStr State Estimation for Tracking of Tagged Sharks with an AUV
title_full_unstemmed State Estimation for Tracking of Tagged Sharks with an AUV
title_sort state estimation for tracking of tagged sharks with an auv
publisher DigitalCommons@CalPoly
publishDate 2011
url https://digitalcommons.calpoly.edu/theses/664
https://digitalcommons.calpoly.edu/cgi/viewcontent.cgi?article=1704&context=theses
work_keys_str_mv AT forneychristina stateestimationfortrackingoftaggedsharkswithanauv
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