Скачать или смотреть Current Velocity Field Estimation Using Synthetic ADCP Data [AKOON]

As part of the automation of a river ferry in the AKOON research project, this video shows the estimation of the current velocity field in the studied operating area. The estimation uses synthetic data from an Acoustic Doppler Current Profiler (ADCP), which is mounted horizontally at the ferry's bow and measures the relative current velocity along two ultrasonic beams. The sensor data is aggregated to an adaptive map of the current field using a combination of information filtering and Gaussian Process Regression (GPR).

The shown motion of the ferry has been recorded during a manually steered experimental trial. In the present case, the ADCP data used for the current field estimation has been synthesized by sampling realistic ADCP measurement data from the shown ground truth velocity field. A zero velocity prior is used for the estimation. After performing the demonstrated trajectory, the obtained relative velocity error between the estimated current velocities and the corresponding ground truth velocities along the traveled path reaches 18.7 %. It can be expected that this error decreases further when the estimation method is used continuously during the ferry operation.

This video is part of the dissertation "Online Trajectory Generation and Tracking Control for Automated River Ferries" by Martin Kosch, which provides more details about the shown evaluation.

AKOON Project Partners:
J.M. Voith SE & Co. KG | VTA (Project lead; www.voith.com)
Institute of Automatic Control, RWTH Aachen University (www.irt.rwth-aachen.de)
Argonav GmbH (www.argonav.de)
Rheinfähre Maul GmbH (www.rheinfaehre.de)

Acknowledgments:
This work was funded by the German Federal Ministry for Economic Affairs and Climate Action (BMWK) as part of the joint research project AKOON (project number 03SX479B). Simulated current field data has kindly been provided by the Federal Waterways Engineering and Research Insitute (BAW). Map data © OpenStreetMap contributors and licensed according to www.openstreetmap.org/copyright.