Mobile AUV localization using multiple static transceivers equipped with linear arrays

Abstract

Most existing research on multi-base sonar AUV positioning systems typically assumes that the AUVs are stationary and only observe the Time of Arrival (TOA) for positioning. If the AUV is assumed to be moving at medium to high speed and its motion during measurement is not considered, this will decrease positioning accuracy. Meanwhile, combining multiple positioning parameters, such as Angle of Arrival (AOA) and TOA, can improve target positioning accuracy. However, using planar arrays to observe two-dimensional AOA (2-D AOA) will consume more computational resources. To alleviate these issues, this study uses multiple static transceivers equipped with linear arrays to observe one-dimensional AOA (1-D AOA) and TOA to achieve moving AUV positioning. Firstly, the 1-D AOA and TOA parameter models under motion effects are pseudo-linearized, transforming the positioning problem into a constrained least squares problem. Then, a semi-definite programming (SDP) solution algorithm with noise tolerance is proposed. In addition, the Cramér–Rao Lower Bound (CRLB) under different observation models with motion effects is derived, and bias analysis under different observation models is conducted. Simulations validate the effectiveness of the proposed positioning method.