Abstract
The article presents a study of the accuracy of estimating the position coordinates of BAUV (Biomimetic Autonomous Underwater Vehicle) by the extended Kalman filter (EKF) method. The fusion of movement parameters measurements and position coordinates fixes was applied. The movement parameters measurements are carried out by on-board navigation devices, while the position coordinates fixes are done by the USBL (Ultra Short Base Line) system. The problem of underwater positioning and the conceptual design of the BAUV navigation system constructed at the Naval Academy (Polish Naval Academy—PNA) are presented in the first part of the paper. The second part consists of description of the evaluation results of positioning accuracy, the genesis of the problem of selecting method for underwater positioning, and the mathematical description of the method of estimating the position coordinates using the EKF method by the fusion of measurements with on-board navigation and measurements obtained with the USBL system. The main part contains a description of experimental research. It consists of a simulation program of navigational parameter measurements carried out during the BAUV passage along the test section. Next, the article covers the determination of position coordinates on the basis of simulated parameters, using EKF and DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy. The final part contains systemic conclusions justifying the desirability of applying the proposed fusion method of navigation parameters for the BAUV positioning.
Highlights
Determining the position coordinates with high accuracy during the process of conducting marine underwater navigation is becoming a significant problem
navigation systems (NS) of the BAUV, which uses only the dead reckoning method based on the course and speed measurements, determines the position coordinates which error has quickly built up over time
After 500 s the average error of the position coordinates reached a value of 127.7 m (Figure 5)
Summary
Determining the position coordinates with high accuracy during the process of conducting marine underwater navigation is becoming a significant problem. Sometimes using satellite navigation during emersion could be difficult, especially in port areas, where infrastructure facilities and other vessels can block and reflect navigation signals [1,2]. Due to these difficulties, it becomes necessary to use dedicated navigation systems (NS) in such cases [3,4,5,6,7,8,9,10]. Use devices to carry out navigational parameter measurements in water, such as log, hydrostatic pressure sensor, or echo-sounder, estimate the position coordinates as a result of the fusion of various navigational parameters, e.g., speed with course or submergence [11,12,13,14,15,16,17,18,19,20].
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