Deep Sea AUV Navigation Using Multiple Acoustic Beacons

Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles（AUVs）.To estimate the vehicle position,we present an algorithm using an extended Kalman filter（EKF） to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating e...

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Bibliographic Details
Published inChina ocean engineering Vol. 30; no. 2; pp. 309 - 318
Main Author 冀大雄 宋伟 赵宏宇 刘健
Format Journal Article
LanguageEnglish
Published Nanjing Chinese Ocean Engineering Society 01.04.2016
Subjects
Coastal Sciences
Engineering
Fluid- and Aerodynamics
Marine & Freshwater Sciences
Numerical and Computational Physics
Oceanography
Offshore Engineering
Simulation
信标
声学测量
扩展卡尔曼滤波算法
机器人导航
深海
环境集成
自主水下航行器
识别技术
range measurements
acoustic navigation
outlier recognition
deep sea AUV
multiple beacons
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Summary:Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles（AUVs）.To estimate the vehicle position,we present an algorithm using an extended Kalman filter（EKF） to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment.Owing to high latency,variable sound speed multipath transmissions and unreliability in acoustic measurements,outlier recognition techniques are proposed as well.The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments.Our results show the improved performance over prior techniques based on position computation.
Bibliography:32-1441/P
JI Da-xiong;SONG Wei;ZHAO Hong-yu;LIU Jian（ a Ocean Collage, Zhejiang University, Zhoushan 316021, China b State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang 110016, China）
deep sea AUV; acoustic navigation; range measurements; multiple beacons; outlier recognition
Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles（AUVs）.To estimate the vehicle position,we present an algorithm using an extended Kalman filter（EKF） to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment.Owing to high latency,variable sound speed multipath transmissions and unreliability in acoustic measurements,outlier recognition techniques are proposed as well.The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments.Our results show the improved performance over prior techniques based on position computation.
ISSN:0890-5487
2191-8945
DOI:10.1007/s13344-016-0020-z