Browse > Article
http://dx.doi.org/10.7746/jkros.2018.13.3.190

Underwater Magnetic Field Mapping Using an Autonomous Surface Vehicle  

Jung, Jongdae (Marine Robotics Research Department, Korea Research Institute of Ships and Ocean Engineering)
Park, Jeonghong (Korea Research Institute of Ships and Ocean Engineering)
Choi, Jinwoo (Korea Research Institute of Ships and Ocean Engineering)
Publication Information
The Journal of Korea Robotics Society / v.13, no.3, 2018 , pp. 190-197 More about this Journal
Abstract
Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.
Keywords
Autonomous surface vehicle (ASV); Underwater mapping; Magnetic field; Calibration;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J. F. Vasconcelos, G. Elkaim, C. Silvestre, P. Oliveira, and B. Cardeira, "Geometric approach to strap down magnetometer calibration in sensor frame," IEEE Transactions on Aerospace and Electronic Systems, vol. 47, no. 2, 1293-1306, April, 2011.   DOI
2 B. Allotta, R. Costanzi, F. Fanelli, N. Monni, and A. Ridolfi, "Single axis FOG aided attitude estimation algorithm for mobile robots," Mechatronics, vol. 30, pp. 158-173, 2015.   DOI
3 W. Kabsch, "A solution for the best rotation to relate two sets of vectors," Acta Crystallographica Section A, vol. 32, No. 5, pp. 922- 923, 1976.   DOI
4 C. E. Rasmussen and C. K. I. Williams, Gaussian Processes for Machine Learning, The MIT Press, pp.7-31, 2006.
5 S. T. Tuohy, T. Maekawa, and N. M. Patrikalakis, "Interrogation of geophysical maps with uncertainty for AUV micro-navigation," OCEANS'93, Victoria, BC, Canada, pp. 1181-1185, 1993.
6 A. Chulliat, S. Macmillan, P. AIken, C. Beggan, M. Nair, B. Hamilton, A. Woods, V. Ridley, S. Maus, and A. Thomson, "The US/UK world magnetic model for 2015-2020: Technical Report," National Geophysical Data Center, NOAA, doi: 10.7289/V5TB14V7.
7 F. C. Teixeira and A. Pascoal. "Magnetic Navigation and Tracking of Underwater Vehicles," IFAC Proceedings Volumes, vol. 46, no. 33, pp. 239-244, 2013.
8 Y. Pei and H. Yeo, "UXO Survey using Vector Magnetic Gradiometer on Autonomous Underwater Vehicle", MTS/IEEE OCEANS 2009, Biloxi, pp. 1-8, 2009.
9 M. A. Tivey and J. Dyment, "The Magnetic Signature of Hydrothermal Systems in Slow Spreading Environments," Geophysical Monograph Series, by P. A. Rona et al. ed., vol. 188, AGU, Washington DC, pp. 43-66, 2010.
10 C. C. Finlay, S. Maus, C. D. Beggan, T N. Bondar, A. Chambodut, T. A. Chernova, A. Chulliat, Y. P. Golovkov, B. Hamilton, M. Hamoudi, R. Holme, G. Hulot, W. Kuang, B. Langlais, V. Lesur, F. J. Lowes, H. Liihr, S. Macmillan, M. Mandea, S. McLean, C. Manoj, M. Menvielle, I. Michaelis, N. Olsen, J. Rauberg, M. Rother, T J. Sabaka, A. Tangborn, L. Toffner-Clausen, E. Thebault, A. W. P. Thomson, I. Wardinski, Z. Wei, and T. I. Zvereva, "International geomagnetic reference field: the eleventh generation," Geophysical Journal International, vol. 183, no. 3, pp. 1216-1230, December, 2010.   DOI
11 M. Engels, U. Barckhausen, and J. S. Gee, "A new towed marine vector magnetometer: methods and results from a Central Pacific cruise," Geophysical Journal International, vol. 172, no.1, pp.115 -129, January, 2008.   DOI
12 J. S. Gee, S. C. Cande, "A surface-towed vector magnetometer," Geophysical Research Letters, vol. 29, no. 14, 2002, doi: 10.1029 2002GL015245.
13 N. Isezaki, "A new shipboard three component magnetome-ter," Geophysics, vol. 51, no. 10, pp. 1992-1998, 1986.   DOI