A high-resolution pulse-Doppler underwater acoustic navigation system

Spindel, Robert C.; Porter, Robert P.; Marquet, William M.; Durham, J.

doi:10.1109/joe.1976.1145294

Cited by 38 publications

(7 citation statements)

References 7 publications

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“…To the best of our knowledge, the earliest study of underwater-vehicle navigation employing acoustic detection of both range and range-rate was the 1978 study by Spindell et al [50], which extends the approach reported in [27] by reporting the full-scale experimental evaluation of an approach to underwater-vehicle navigation in which a single underwater vehicle could detect both range and range rate from a set of fixed navigation transponders whose location was known a priori.…”

Section: Literature Reviewmentioning

confidence: 92%

“…In [37], [39], the author, apparently unaware of [27], [50], reported the notion of employing acoustic range rate in addition to acoustic range for LBL navigation but did not report specific navigation algorithms for employing range rate nor any experimental evaluation. In [24], the author reports the notion of an underwater acoustic modem estimating and compensating for the Doppler shift of a received acoustic data packet transmission but does not address how a Doppler estimate might be used for navigation.…”

Section: Literature Reviewmentioning

confidence: 99%

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Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations

Harris

Whitcomb

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper reports a preliminary study of a method for combined underwater communication and navigation of underwater vehicles (cooperative navigation) equipped with an acoustic modem, attitude, and depth sensors, but lacking a Doppler velocity log (DVL), and a surface vehicle equipped with an acoustic modem and GPS. Few previously reported studies have utilized acoustic range rate in addition to acoustic range for the general navigation of underwater vehicles. This paper reports an observation model for range-rate measurements and preliminary anecdotal simulation studies for cooperative navigation of one underwater vehicle client with one surface vehicle server employing both range and rangerate observations to estimate the vehicle states with a delayedstate extended Kalman filter in the absence of DVL velocity observations. The preliminary studies suggest that the addition of range-rate measurements may offer advantages over the case of range-only observations in a limited set of circumstances, such as poor range-observation accuracy. The present study is preliminary, however, and directions for future study are suggested.

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Section: Literature Reviewmentioning

confidence: 92%

Section: Literature Reviewmentioning

confidence: 99%

Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations

Harris

Whitcomb

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Before the days of the Global Positioning System, Pulse-Doppler long baseline concepts were employed to accurately position ships and platforms on the surface accurately as well (Spindel, Porter, Marquet, and Durham, 1976). The basic concept involves calculating range from adjusted travel time ( z ) and an average sound speed (c,,, ).…”

Section: Traditional Long Baseline Navigation (Lbl)mentioning

confidence: 99%

Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles

Hartsfield

2005

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“…Accurate measurement of ship speed is therefore difficult, notwithstanding STW is the most important parameter for performance analysis. The calculation of the STW accuracy has been a challenging task for the experts of the shipping industry ever since the launch of the first DVL sensor used for underwater navigation [7][8][9][10][11][12][13][14][15][16][17].…”

Section: Introduction 1backgroundmentioning

confidence: 99%

How Good Is the STW Sensor? An Account from a Larger Shipping Company

Ikonomakis

Nielsen

Holst

et al. 2021

JMSE

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This paper examines the statistical properties and the quality of the speed through water (STW) measurement based on data extracted from almost 200 container ships of Maersk Line’s fleet for 3 years of operation. The analysis uses high-frequency sensor data along with additional data sources derived from external providers. The interest of the study has its background in the accuracy of STW measurement as the most important parameter in the assessment of a ship’s performance analysis. The paper contains a thorough analysis of the measurements assumed to be related with the STW error, along with a descriptive decomposition of the main variables by sea region including sea state, vessel class, vessel IMO number and manufacturer of the speed-log installed in each ship. The paper suggests a semi-empirical method using a threshold to identify potential error in a ship’s STW measurement. The study revealed that the sea region is the most influential factor for the STW accuracy and that 26% of the ships of the dataset’s fleet warrant further investigation.

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A high-resolution pulse-Doppler underwater acoustic navigation system

Cited by 38 publications

References 7 publications

Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations

Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations

Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles

How Good Is the STW Sensor? An Account from a Larger Shipping Company

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