Collaborative AUV Localization and Tracking of an Underway Ship with Adaptive Pinging and a Planner for Trilateration

Wetter, Erin; Seto, Mae

doi:10.1109/ccece49351.2022.9918476

Cited by 2 publications

(1 citation statement)

References 6 publications

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“…Although its recent applications are mostly known in the area of navigation and localization, e.g. aerospace (Molesky & Wilhelm, 2002), indoors (Andò et al, 2021;Marasigan, 2020), and underwater (Wetter & Seto, 2022); trilateration is also found to be useful in other area such as biomedical engineering (Alshareef et. al (2020); Blaiech et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Revisiting Trilateration Method Based on Time-of-Flight Measurements for Navigation

Simamora,

Rachmach,

Rizqon

et al. 2023

J. Ris. Multidisip. Inov. Tech.

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This paper revisits trilateration in three-dimensional positioning. Specifically, range between a positioning target and the reference points through time-of-flight (ToF) measurements. In a ToF, range is yielded by multiplying the time required by a wave to travel between two points and its propagation speed. Position of the target can be then estimated once the number of references are adequate, i.e. at least three for two-dimensional positioning and four for three-dimensional one. In this paper, the positioning is considered for navigation where the target moves following a trajectory whilst the ToFs take place in a certain period. The target position at the time is computed based on the ToFs through least square estimation. Through a numerical simulation, it is shown that the trilateration can track a target’s trajectory despite the decreasing performance at the end of the course.

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