Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Voronoi Diagram-based USBL Outlier Rejection for AUV Localization

  • Hyeonmin Sim (Department of Robot and Smart System Engineering, Kyungpook National University) ;
  • Hangil Joe (Department of Smart Mobility Engineering, Kyungpook National University)
  • Received : 2024.03.28
  • Accepted : 2024.05.30
  • Published : 2024.06.30
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Abstract

USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korean government (Ministry of Science and ICT) (No. 2021R1C1C1008655), and the Korea Institute of Marine Science & Technology Promotion (KIMST) with funds from the Ministry of Oceans and Fisheries (20220188, Gyeongbuk Sea Grant) in 2022.

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