A Novel Single-Beacon Navigation Method for Group AUVs Based on SIMO Model

Sun, Sibo; Yu, Shuangning; Shi, Zhibo; Fu, Jin; Zhao, Chunhui

doi:10.1109/access.2018.2883435

Cited by 6 publications

(4 citation statements)

References 27 publications

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“…Thomson et al [12] present a linearized Bayesian inversion algorithm, which has a high robustness against node's position measurement noise and sound speed measurement noise. Utilizing the single-input-multipleoutput (SIMO) model, Sun [13] achieves the simultaneous UWAL of a group autonomous underwater vehicle (AUV) based on single beacon, and develops the second-order time different of arrival algorithm to compensate the drifted signal period of the black box [14] [15], which can be applied in searching the sunken airplane.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Ultra-Short Base Line Based Underwater Acoustical Localization Utilizing Modified Newton Algorithm

Liu

Qin

et al. 2021

IEEE Access

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The ultra-short base line (USBL) is a widely used technique in achieving the underwater acoustic localization (UWAL). Aimed at increasing the localization precision, we propose a threedimensional (3-D) USBL based UWAL method utilizing the modified Newton algorithm. Firstly, a modified Newton algorithm is proposed by introducing the singular value factor to address the nonconvergence problem, which dramatically deteriorate the localization precision in the traditional Newton algorithm. Secondly, a localization node selection algorithm is presented to optimize the localization precision and reduce the computational burden. Moreover, the localization precision analysis is implemented to evaluate the theoretical performance of the method. Finally, simulation and lake trial results prove the effectiveness of the method.INDEX TERMS Underwater acoustic localization (UWAL), Ultra short base line (USBL), Direction of arrival (DOA), Newton algorithm.

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Section: Introductionmentioning

confidence: 99%

Three-Dimensional Ultra-Short Base Line Based Underwater Acoustical Localization Utilizing Modified Newton Algorithm

Liu

Qin

et al. 2021

IEEE Access

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“…However, this scheme requires the arrangement of multiple underwater acoustic transponders to constitute the transponder array in advance, which is complex and not convenient for the practical applications in small areas or under emergency conditions. To reduce the cost and to make positioning system more suitable for the miniaturized frogman application demands, introducing STR information as external measurement has become a research hotspot in the field of underwater positioning, which has been successfully applied in underwater vehicle navigation [23][24][25]. Reference [23] has proposed a range-only and single-beacon (ROSB) technology for the tracking and positioning of autonomous underwater vehicles (AUVs).…”

Section: Introductionmentioning

confidence: 99%

“…Reference [24] has realized the tracking of AUVs by designing a filtering algorithm based on single beacon ranging. Reference [25] has proposed a single-beacon navigation method based on SIMO model to conduct the navigation and positioning of group AUVs. The methods in [23][24][25] use single beacon ranging information as the measurement and suppress the divergence speed of position errors by filtering.…”

Section: Introductionmentioning

confidence: 99%

“…Reference [25] has proposed a single-beacon navigation method based on SIMO model to conduct the navigation and positioning of group AUVs. The methods in [23][24][25] use single beacon ranging information as the measurement and suppress the divergence speed of position errors by filtering. However, these methods have not solved the problem that positioning errors accumulate over time under the condition of single transponder configuration.…”

Section: Introductionmentioning

confidence: 99%

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Frogman Self-Navigation Method Based on Virtual Transponder Array and Dead Reckoning

Zhang

Wang

et al. 2020

IEEE Access

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Using single transponder ranging (STR) information to aid positioning satisfies the needs of frogman autonomous positioning in waters emergency rescue, where miniaturized and low-cost devices are preferred. On this basis, a frogman self-navigation method based on virtual transponder array (VTA) and dead reckoning (DR) is proposed in this paper, to solve the problem that calculation results of DR still accumulate with time when STR information is taken as the external measurement. In the proposed method, firstly, by constructing the VTA with depth information constraint, frogman autonomous positioning under the condition of single transponder configuration is realized. Then, to combine the characteristics that DR positioning data is smooth and short-term stable, and that VTA positioning error is not cumulative, the DR navigation system is used to describe frogman's motion law, the frogman positioning coordinates that calculated by VTA are taken as external measurement and the Kalman filter is designed, which solves the problem of DR accumulated errors. Compared to traditional STR-DR method, the proposed VTA-DR method further improves the accuracy and stability of frogman navigation and positioning. Finally, based on the highprecision three-dimensional motion capture system, the semi-physical simulation experimental environment is built to verify the proposed method. The experimental results under different tracks indicate that the average total location error of VTA-DR method is 0.149m, which is reduced by 53.5% compared with STR-DR method. The proposed VTA-DR method can better suppress the accumulation of positioning errors and has better positioning accuracy and robustness. INDEX TERMS Frogman self-navigation, integrated navigation, single transponder, underwater acoustic positioning, virtual transponder array.

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Underwater navigation using a single beacon based on the time delays of the direct signals and the surface-reflected signals

et al. 2022

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A Novel Single-Beacon Navigation Method for Group AUVs Based on SIMO Model

Cited by 6 publications

References 27 publications

Three-Dimensional Ultra-Short Base Line Based Underwater Acoustical Localization Utilizing Modified Newton Algorithm

Three-Dimensional Ultra-Short Base Line Based Underwater Acoustical Localization Utilizing Modified Newton Algorithm

Frogman Self-Navigation Method Based on Virtual Transponder Array and Dead Reckoning

Underwater navigation using a single beacon based on the time delays of the direct signals and the surface-reflected signals

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