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Feature Based Localization and Navigation for Miniature Underwater Vehicles

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: D14PC00142
Agency Tracking Number: D2-1331
Amount: $1,499,754.00
Phase: Phase II
Program: SBIR
Solicitation Topic Code: SB141-005
Solicitation Number: 2014.1
Solicitation Year: 2014
Award Year: 2014
Award Start Date (Proposal Award Date): 2014-07-30
Award End Date (Contract End Date): 2017-07-30
Small Business Information
2780 Skypark Drive Suite 400
Torrance, CA 90505
United States
DUNS: 106823607
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: Yes
Principal Investigator
 Principal Investigator
 (310) 626-8661
Business Contact
 Zoltan Feher
Title: Dr.
Phone: (310) 626-8384
Research Institution

Significant resources are required to ensure proper self-localization of submersibles without available reference signals such as GPS or LBL. This is compounded, when the vehicle remains submerged for extended periods of time which is often required for reconnaissance missions. In the case of a miniature autonomous underwater vehicle (AUV), the self-localization challenge extends well beyond INS filtering. Although, position and velocity sensor systems (DVLs) have been successfully designed for large and medium scale submarines, the miniaturization of those sensor components still poses a significant challenge. To close this technological gap, the NextGen team proposes the development of a sonar-based miniature navigation sensor system that aims to challenge the weight, size, cost as well as performance specifications imposed by small and miniature AUVs. The proposed solution will combine advanced sonar technology with software modules capable of deducing the vehicle kinematics, i.e. position and velocity, in real time. The NextGen, Virginia Tech and Lockheed Martin team combines year-long expertise in i) sensor calibration and underwater navigation, ii) system integration, and iii) image processing and state estimation. For performance demonstration, the team plans to integrate the sensor into either VTs 690 AUV or NextGens Unmanned Underwater Riverine Craft (UURC).

* Information listed above is at the time of submission. *

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