Year-end Sale % OFF 
Abstract
Position information is essential for an underwater vehicle that can affect the performance of many other applications. Vehicle motion during the two-way travel time (TWTT) using an acoustic positioning system can affect the localization accuracy of the estimators based on the traditional static model. A new time measurement model for moving vehicle localization is presented, which compensates for the vehicle motion. The Cramér–Rao lower bounds (CRLBs) of the proposed model are derived for two different cases, where the depth of the underwater vehicle is unknown or known. Then, closed-form solutions for the two cases using the proposed model are derived and the solutions are shown analytically to reach the CRLBs. Simulations collaborate the theoretical performance of the proposed estimators and the moving model significantly improves the localization accuracy in comparison with the static model.
Highlights
Accurate localization and navigation of autonomous underwater vehicle (AUV) is a critical focus area to a number of applications, such as underwater search and rescue, seafloor mapping, shallow water mine countermeasures, and oceanographic surveys [1,2,3,4,5,6,7,8,9,10]
This paper will propose a time measurement moving model for range-only AUV localization which compensates for vehicle motion during the two-way travel time (TWTT) interval
We studied the accurate closed-form solution for moving AUV localization with range-only data
Summary
Accurate localization and navigation of autonomous underwater vehicle (AUV) is a critical focus area to a number of applications, such as underwater search and rescue, seafloor mapping, shallow water mine countermeasures, and oceanographic surveys [1,2,3,4,5,6,7,8,9,10]. When enough measurements and samples are obtained during the trajectory of the moving AUV, their proposed navigation filters will estimate all the unknown positions. They assume the value of AUV speed is small and the vehicle motion during interrogation and reception is ignored to simplify their algorithm. [20] proposed a closed-form solution using the LS method for the TWTT measurements by considering the calibration error of deployed beacons, where the vehicle motion is still ignored. This paper will propose a time measurement moving model for range-only AUV localization which compensates for vehicle motion during the TWTT interval. A set of closed-form solutions are constructed using time delay measurement for the two cases in range-only AUV localization.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
