Abstract
This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range). Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.
Highlights
Autonomous underwater vehicle (AUV) is a tool that is competent for various underwater tasks, such as detection, attack, convey, salvage, etc
Acoustic positioning system can be divided into long base line, short base line and ultra-short base line systems according to distance between elements
long base line (LBL) as quantity measurement of Kalman filter. It could increase positional accuracy of AUV effectively, the LBL could not complete the positioning when there are fewer than four available hydrophones because of carrier movement or shoal of fish
Summary
Autonomous underwater vehicle (AUV) is a tool that is competent for various underwater tasks, such as detection, attack, convey, salvage, etc. The distribution of the correlation peak varies with the change of the water environment, so the proposed tracking algorithm may still cause estimation error To solve these problems, this paper put forward an AUV positioning system based on SINS/LBL tightly coupled algorithm of underwater acoustic propagation multipath. This paper put forward an AUV positioning system based on SINS/LBL tightly coupled algorithm of underwater acoustic propagation multipath This system is composed of SINS, DVL, MCP, sound source and LBL acoustic positioning array. Difference between this slant-range difference and the slant-range difference calculated from SINS position is taken as the observation variables of tightly coupled system, correcting accumulative position error of AUV This system uses SINS assisting to solve TDOA calculation difficulty caused by multipath propagation of underwater sound signal. Some simulation experiments are implemented to prove effectiveness of the proposed algorithm
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