Abstract
In a departure from the past, unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs) are increasingly needed for complementary cooperation in military, scientific, and commercial applications, because this is more efficient than standalone operations. Information sharing through acoustic underwater communication is vital for complementary cooperation between USVs and UUVs. Normally, since USVs have advantages in terms of wide operational boundaries compared to UUVs, they are efficient for tracking UUVs. In this paper, we suggest a UUV tracking algorithm for a USV. The tracking algorithm’s development consists of three main software models: an estimation based on an extended Kalman filter (EKF) with a navigation smoothing method, guidance based on multimode guidance, and re-searching based on a pattern. In addition, the algorithm provides a procedure for tracking UUVs in complex acoustic underwater communication environments. The tracking algorithm was tested in a simulated environment to check the performance of each method, and implemented with a USV system to verify its validity and stability in sea trials. The UUV tracking algorithm of the USV shows stable and efficient performance.
Highlights
Until now, the operating concepts of unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs) have been individually researched by connecting them to manned systems through a network to perform missions
This study describes a system model of the extended Kalman filter (EKF) based on an estimation smoothing method to overcome the lack of information caused by intermittent measurements of the UUV states [14–20]
In spite of periodically receiving virtual UUV states approximately every 5 s, the USV stably followed the rear of the virtual UUV while maintaining a desirable distance
Summary
The operating concepts of unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs) have been individually researched by connecting them to manned systems through a network to perform missions. USVs and UUVs acquire controlled and measured information over remote communication with each control center, and perform missions such as surface or underwater surveillance [1,2]. Complementary cooperation between USVs and UUVs has recently been emphasized due to extensions of their range of operation [3]. In this complementary cooperation, the USV needs high performance (e.g., duration, velocity, payload, and navigation accuracy) compared to the UUV [4,5]
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