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Unmanned Underwater Vehicles (UUVs) have a promising future to explore the polar regions. In this paper, we present our progress on developing a self-contain inertial odometry for under-ice navigation. Firstly, a microcontroller-based hardware time synchronization for multiple devices is demonstrated. Moreover, we present a new IMU, Doppler Velocity Log (DVL) and Pressure dead-reckoning (DR) for state estimation and a robust initialization approach for underwater vehciels. Field trials have been conducted in Utqiagvik, Alaska in March 2022 to gather multi-sensor data under the sea ice. In this paper, we highlight the performance of our method by comparing to the robot_localization algorithm, a widely used open-source localization algorithm.
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TinyOdom: Hardware-Aware Efficient Neural Inertial Navigation
Deep inertial sequence learning has shown promising odometric resolution over model-based approaches for trajectory estimation in GPS-denied environments. However, existing neural inertial dead-reckoning frameworks are not suitable for real-time deployment on ultra-resource-constrained (URC) devices due to substantial memory, power, and compute bounds. Current deep inertial odometry techniques also suffer from gravity pollution, high-frequency inertial disturbances, varying sensor orientation, heading rate singularity, and failure in altitude estimation. In this paper, we introduce TinyOdom, a framework for training and deploying neural inertial models on URC hardware. TinyOdom exploits hardware and quantization-aware Bayesian neural architecture search (NAS) and a temporal convolutional network (TCN) backbone to train lightweight models targetted towards URC devices. In addition, we propose a magnetometer, physics, and velocity-centric sequence learning formulation robust to preceding inertial perturbations. We also expand 2D sequence learning to 3D using a model-free barometric g-h filter robust to inertial and environmental variations. We evaluate TinyOdom for a wide spectrum of inertial odometry applications and target hardware against competing methods. Specifically, we consider four applications: pedestrian, animal, aerial, and underwater vehicle dead-reckoning. Across different applications, TinyOdom reduces the size of neural inertial models by 31× to 134× with 2.5m to 12m error in 60 seconds, enabling the direct deployment of models on URC devices while still maintaining or exceeding the localization resolution over the state-of-the-art. The proposed barometric filter tracks altitude within ±0.1m and is robust to inertial disturbances and ambient dynamics. Finally, our ablation study shows that the introduced magnetometer, physics, and velocity-centric sequence learning formulation significantly improve localization performance even with notably lightweight models.
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- PAR ID:
- 10385251
- Date Published:
- Journal Name:
- Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies
- Volume:
- 6
- Issue:
- 2
- ISSN:
- 2474-9567
- Page Range / eLocation ID:
- 1 to 32
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Inertial navigation provides a small footprint, low-power, and low-cost pathway for localization in GPS-denied environments on extremely resource-constrained Internet-of-Things (IoT) platforms. Traditionally, application-specific heuristics and physics-based kinematic models are used to mitigate the curse of drift in inertial odometry. These techniques, albeit lightweight, fail to handle domain shifts and environmental non-linearities. Recently, deep neural-inertial sequence learning has shown superior odometric resolution in capturing non-linear motion dynamics without human knowledge over heuristic-based methods. These AI-based techniques are data-hungry, suffer from excessive resource usage, and cannot guarantee following the underlying system physics. This paper highlights the unique methods, opportunities, and challenges in porting real-time AI-enhanced inertial navigation algorithms onto IoT platforms. First, we discuss how platform-aware neural architecture search coupled with ultra-lightweight model backbones can yield neural-inertial odometry models that are 31–134 x smaller yet achieve or exceed the localization resolution of state-of-the-art AI-enhanced techniques. The framework can generate models suitable for locating humans, animals, underwater sensors, aerial vehicles, and precision robots. Next, we showcase how techniques from neurosymbolic AI can yield physics-informed and interpretable neural-inertial navigation models. Afterward, we present opportunities for fine-tuning pre-trained odometry models in a new domain with as little as 1 minute of labeled data, while discussing inexpensive data collection and labeling techniques. Finally, we identify several open research challenges that demand careful consideration moving forward.more » « less
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1145/3534594
