Deep Sea AUV Navigation Using Multiple Acoustic Beacons
查看参考文献15篇
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文摘
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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. |
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来源
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China Ocean Engineering
,2016,30(2):309-318 【核心库】
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DOI
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10.1007/s13344-016-0020-z
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关键词
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deep sea AUV
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acoustic navigation
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range measurements
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multiple beacons
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outlier recognition
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地址
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1.
Ocean Collage, Zhejiang University, State Key Laboratory of Robotics, Zhoushan, 316021
2.
Ocean Collage, Zhejiang University, Zhoushan, 316021
3.
Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang, 110016
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语种
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英文 |
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文献类型
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研究性论文 |
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ISSN
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0890-5487 |
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学科
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海洋学 |
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基金
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国家自然科学基金
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文献收藏号
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CSCD:5698570
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