A Reverse Bearings Only Target Motion Analysis for Autonomous Underwater Vehicle Navigation

Alexandri, Talmon; Diamant, Roee

doi:10.1109/tmc.2018.2840997

Cited by 28 publications

(10 citation statements)

References 31 publications

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“…While these errors may seem large, we argue that for the task of localizing an AUV in a long term mission, this is still acceptable. This is because, first, after a few hours especially in deep water, the self-navigation system of the AUV completely drifts and thus any localization solution of limited expected error will benefit the operation [96], and second, compared to the typical detection range of roughly 5 km for the AUV's pinger (e.g., [97]), the above reported localization error as in our experiment is still a good result. Given that this result was obtained using only one receiver in real sea conditions, it demonstrates well the applicability of our suggested localization method.…”

Section: Resultssupporting

confidence: 48%

Underwater Direction of Arrival Estimation using Wideband Arrays of Opportunity

Dubrovinskaya

Casari

2019

OCEANS 2019 - Marseille

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Casari knows no boundaries. He believed in me to allow me to work independently while providing all the possible support and was by my side when needed. His high standards both in research and communication have become my constant beacon in my personal and professional growth. His assistance in every aspect of research work was absolutely invaluable.Another thank you should definitely go to my tutor Prof. Albert Banchs Roca for all his help with the paperwork from the very first days of my Ph.D. I would also like to say thanks to Dr. Ivor Nissen for his introduction to the world of underwater acoustic localization research, and for always keeping an eye on my progress. I am grateful to Dr. Diamant for welcoming and hosting me at Haifa University and enduring me during numerous sea trials. All the field experience I got during my trips to Israel is still one of the most unforgettable go through during my Ph.D.Furthermore, I would like to say many thanks to Dr. Konstantin Kebkal and Evologics GmbH colleagues for hosting me at their premises in Berlin and for all the invaluable help in organizing lab and field experiments. Special thanks to Veronika Kebkal who pushed everyone to make it possible (and fun!) Also, I would like to thank Dr. Fraser Dalgleish who hosted me at Florida Atlantic University and for sharing experimental data even after I left.A huge bunch of thanks goes to all my colleagues at IMDEA Networks for all the coffee break talks, dinner drinks, board games battles, and barbeque parties. Special thanks go to the "ground-floor" team for all the evening gossip times and fun we had.Last but not least thank you goes to my wonderful family. Thanks to my parents for teaching me to value knowledge and for giving me everything I need. And the most important thanks -to my husband Sergey Samodov, who was solving all my life problems, listened to my nagging during the hardest days saying, "this too shall pass", waiting for me to come back. I couldn't have done this journey without you.

show abstract

Section: Resultssupporting

confidence: 48%

Underwater Direction of Arrival Estimation using Wideband Arrays of Opportunity

Dubrovinskaya

Casari

2019

OCEANS 2019 - Marseille

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“…This is because, after a few hours and especially in deep waters, the self-navigation system of the AUV would drift significantly: thus, any localization solution of limited expected error will benefit the operation. 50 Moreover, compared to the typical detection range of roughly 5 km for the AUV's pinger (e.g., Ref. 51), the above reported localization error as in our experiment is still a good result.…”

Section: B Resultssupporting

confidence: 72%

Bathymetry-aided underwater acoustic localization using a single passive receiver

Dubrovinskaya

Casari

Diamant

2019

The Journal of the Acoustical Society of America

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This paper considers the problem of estimating the trajectory of an autonomous underwater vehicle (AUV) via a single passive receiver, without any anchor nodes or receiving arrays, and with the only help of a sequence of known acoustic signals emitted by the AUV. This scenario is of interest in case multilateration-based alternatives would require the deployment of many receivers and imply exceedingly high costs, e.g., for the coverage of wide areas. The proposed method exploits the knowledge of environmental parameters such as the sound speed profile, bathymetry and bottom sediments in order to estimate the location of the AUV, taking advantage of the spatial dependency of channel impulse responses that arises from the diverse bathymetry around the receiver. This dependency is captured by comparing channel estimates against a database of channel responses, pre-computed through an acoustic propagation model. This yields multiple likely AUV locations, which are filtered via a path tracking method similar to the Viterbi algorithm, in order to estimate the trajectory of the AUV. Results obtained both from simulations and from a sea experiment show that the proposed method can estimate node locations and paths with a small error, especially considering the use of a single receiver. V

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“…INTRODUCTION utonomous underwater vehicles (AUV) is an indispensable carrier for human to investigate and study marine resources [1][2]. Underwater positioning technology is one of the key technologies for underwater vehicles to carry out underwater operations [3][4][5]. The medium environment of the ocean determines that sound is more suitable as a propagation carrier for underwater positioning technology than light and electromagnetic waves [6][7].…”

Section: Index Terms-ultra-short Baseline (Usbl); Installation Error Angle; Attitude Determination; Observation Vectors; Real-time Calibrmentioning

confidence: 99%

A Calibration Method of USBL Installation Error Based on Attitude Determination

Zhu

Zhang

et al. 2020

IEEE Trans. Veh. Technol.

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The Ultra-short baseline (USBL) positioning system has important application in the positioning of underwater vehicles. The installation error angle of the USBL positioning system has an important influence on the positioning accuracy of USBL system. The traditional calibration methods have limited estimation accuracy for installation error angles and have high route requirements. To solve the above problems, a calibration method of installation error angle based on attitude determination is proposed in this paper. When strapdown inertial navigation system (SINS) and USBL are fixed together in the application process, the installation error angle of USBL is fixed and unchanged. Then the calibration of installation error angle can be accomplished with the idea of attitude determination. The vector observation model based on the installation error angle matrix is established first. Observation vectors are obtained by the relative position of transponders in the USBL coordinate frame. The reference vector is calculated by position of transponder, position and attitude of SINS and lever arm between SINS and USBL. By constructing the observation vectors and the reference vectors, the proposed method can calibrate the installation error angle of SINS and USBL in real time. The advantages of the proposed method are that it has no specific requirements for the calibration route and can calibrate the installation error angle in real time

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A Reverse Bearings Only Target Motion Analysis for Autonomous Underwater Vehicle Navigation

Cited by 28 publications

References 31 publications

Underwater Direction of Arrival Estimation using Wideband Arrays of Opportunity

Underwater Direction of Arrival Estimation using Wideband Arrays of Opportunity

Bathymetry-aided underwater acoustic localization using a single passive receiver

A Calibration Method of USBL Installation Error Based on Attitude Determination

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