Linear Track Underwater Carrier SINS Correction Method Based on Hydroacoustic Single Beacon

Enfan Lin,Hongyang He,Feng Zha,Miao Wu,Jiangning Xu

doi:10.1109/access.2022.3140789

Enfan Lin, Hongyang He + Show 3 more

Open Access

https://doi.org/10.1109/access.2022.3140789

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Abstract

Precise positioning of underwater vehicles using only a single beacon for range measurement is one of the toughest challenges for underwater navigation, especially when the underwater vehicle travels along a straight path resulting in the system unobservable. In this paper, acoustic range measurements are combined with inertial navigation to determine the position of an underwater vehicle using two consecutive measurement points. The contributions of the work presented here are twofold: First, the underwater single beacon localization algorithm proposed in this paper is able to operate under a linear track, and give the solution of the method to reject multi-valuedness. Second, considering the actual work of underwater carriers, extending the strategy to any trajectory can be used. The results obtained by the algorithm are fed back to the inertial navigation system, which can suppress the continued dispersion of inertial navigation errors. The experimental results show that the proposed “Linear track underwater carrier Strapdown Inertial Navigation System (SINS) correction method based on hydroacoustic single beacon” can solve the positioning problem of underwater long-range carriers and suppress further dispersion of their inertial navigation system errors.

Highlights

Inertial navigation technology and hydroacoustic navigation technology are currently considered by the industry as a good means of navigation underwater, each has its own advantages and disadvantages
A trend and research focus in underwater navigation is positioning method based on single beacon range measurement assistance [3]–[5]
In reference [7], the concept of Virtual Long Baseline (VLBL) was introduced and had a profound impact on the subsequent research of scholars [8]–[10]. In this single-beacon acoustic localization model based on a virtual long baseline, the geometric distribution of the virtual beacons is affected by the carrier trajectory, which can affect the observability of the whole system

Summary

INTRODUCTION

Inertial navigation technology and hydroacoustic navigation technology are currently considered by the industry as a good means of navigation underwater, each has its own advantages and disadvantages. In order to solve the above problems, in this paper, a method which acoustic range measurements are combined with Strapdown Inertial Navigation System (SINS) to determine the position of an underwater vehicle using two consecutive measurement points is proposed. This approach is extended to any trajectory that can be used, the positioning results back to the inertial navigation system can effectively suppress the inertial navigation error dispersion. SINS MECHANICAL ORCHESTRATION Ideally, the SINS mechanical choreography equation is shown in equation (1) (3) (4) [25]–[27]

Cn b

The position equation is given by

2Ai Si

The simulated ranging equation is given by

Findings

CONCLUSION