Abstract
AUV (autonomous underwater vehicles) are required to have long-term and high-precision positioning capability relative to seabed targets in most deep-sea exploration tasks. However, acoustic positioning error is positively correlated with its operating range and inertial navigation has inevitable accumulated time errors, neither of which provide precise AUV positions. TAN (terrain aided navigation) directly calculates the AUV position to the seabed terrain coordinate system by tracking the seabed topographic characteristics, which can guide the AUV to seabed target accurately. However, the initial TAN positioning error will increase with the AUV operation depth, which causes a large PF (particle filter) initialization error and particle coverage interval, and will affect the convergence and stability of TAN. To solve this problem, we first propose a TAP (terrain aided position) confidence interval model. We then use the confidence interval to constrain the initial particles to a smaller range. Finally, the validity of the algorithm is verified by playback simulation with ship-borne multi-beam sonar sensor measured data. The results show that the TAP confidence interval can reduce the coverage of the initial particle, and can improve the convergence speed and filtering accuracy of the TAN.
Highlights
Seabed space, especially deep seabed space, contains abundant resources closely related to the future development of mankind
This study proposes using the PF initialization by using the confidence interval of TAP, such that the initial particle approximates the real position
The rest of the paper mainly includes: Section II:confidence interval estimation method based on the TAP position jump model is introduced; Section III: PF initialization based on the effective position points of TAP is discussed along with two types of initial weight distribution methods, and the TAN accuracy and stability with initialization method based on effective TAP is compared with the other two particle-filter initialization methods
Summary
Especially deep seabed space, contains abundant resources closely related to the future development of mankind. The rest of the paper mainly includes: Section II:confidence interval estimation method based on the TAP position jump model is introduced; Section III: PF initialization based on the effective position points of TAP is discussed along with two types of initial weight distribution methods, and the TAN accuracy and FIGURE 5. Tidal tp and measurement error standard deviation σ p at the TAP position can be obtained according to Equation (3): hij(Xp) = hij(Xp) − zij t p Sp where it represents the interpolation height sequence of MTM at Xp in DEM (Digital Elevation Map), Sp represents the estimation of the standard deviation of the measurement error, and λ is the correction parameter that considers the nonGaussian distribution of the residuals. There are 157 points outside the confidence interval, and the effective point ratio is 2.23%
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