Abstract
Self-positioning of submerged Autonomous Underwater Vehicles (AUVs) is a challenging task due to nonavailability of GPS signals. One of the most recent solutions for this is the use of surface vehicles (sensors) for cooperative localization of the underwater vehicles (targets) by measuring their relative positions. However, correct placement of the surface sensors is very critical as their geometric configuration affects their observability and hence availability of their relative positions information to the targets. In this paper, a comparative survey of sensors’ optimal formation techniques for cooperative localization of AUVs has been presented. Introduction to the basic cooperative localization techniques and background theory of optimal sensor placements have been provided. This paper can also serve as a fundamental reading material for students and researchers pursuing research on optimal sensor placement for cooperative localization.
Highlights
Since their introduction in 70s [1], Autonomous Underwater Vehicles (AUVs) have remained the focus of research for about four decades in order to improve their size, efficiency, operating time, and area, etc
To limit the localization error for longer operations of AUVs, inertial navigation is being augmented by various techniques like frequent surfacing of AUVs for Global Positioning System (GPS) feed [16], surface or bottom tracking using Doppler velocity log (DVL) [17, 18], and predeployment of surface beacons for acoustic baseline system [19, 20]
To better understand the problem of optimal formation, this section provides a brief overview of various techniques used for cooperative localization of AUVs that is at the core of the paper at hand
Summary
Received 13 May 2019; Revised 2 July 2019; Accepted 16 July 2019; Published 30 July 2019. Self-positioning of submerged Autonomous Underwater Vehicles (AUVs) is a challenging task due to nonavailability of GPS signals. One of the most recent solutions for this is the use of surface vehicles (sensors) for cooperative localization of the underwater vehicles (targets) by measuring their relative positions. Correct placement of the surface sensors is very critical as their geometric configuration affects their observability and availability of their relative positions information to the targets. A comparative survey of sensors’ optimal formation techniques for cooperative localization of AUVs has been presented. Introduction to the basic cooperative localization techniques and background theory of optimal sensor placements have been provided. This paper can serve as a fundamental reading material for students and researchers pursuing research on optimal sensor placement for cooperative localization
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