Influence of the ray elevation angle on seafloor positioning precision in the context of acoustic ray tracing algorithm

Liu, Yixu; Xue, Shuqiang; Guo-qing, QU; Lu, Xiushan; Qi, Ke

doi:10.1016/j.apor.2020.102403

Cited by 9 publications

(3 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where dc is the sound velocity error; dt i is the time error, which is caused by the clock error and pulse front measurement error (related to the signal/noise ratio); and dx i , dy i and dz i are the base datum position errors. The sound velocity error is a very important error that affects the positioning accuracy, and it exists in both time and space characteristics, so the sound velocity environment must be accurately measured before each experiment [21,33]. The advantage of the LBL system is that it has a large tracking and positioning range and can effectively position the target within a range of tens of kilometers with high accuracy.…”

Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

“…USBL combined with other navigation schemes has become a research hotspot in underwater navigation [18][19][20]. The main advantage of LBL is its high accuracy, but there is the problem of its high cost of use [21]. The ocean is a complex hydrodynamic environment where environmental noise and various errors interact to reduce the positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Liu,

Sun,

et al. 2024

Remote Sensing

Self Cite

View full text Add to dashboard Cite

The operation of underwater vehicles in deep waters is a very challenging task. The use of AUVs (Autonomous Underwater Vehicles) is the preferred option for underwater exploration activities. They can be autonomously navigated and controlled in real time underwater, which is only possible with precise spatio-temporal information. Navigation and positioning systems based on LBL (Long-Baseline) or USBL (Ultra-Short-Baseline) systems have their own characteristics, so the choice of system is based on the specific application scenario. However, comparative experiments on AUV navigation and positioning under both systems are rarely conducted, especially in the deep sea. This study describes navigation and positioning experiments on AUVs in deep-sea scenarios and compares the accuracy of the USBL and LBL/SINS (Strap-Down Inertial Navigation System)/DVL (Doppler Velocity Log) modes. In practice, the accuracy of the USBL positioning mode is higher when the AUV is within a 60° observation range below the ship; when the AUV is far away from the ship, the positioning accuracy decreases with increasing range and observation angle, i.e., the positioning error reaches 80 m at 4000 m depth. The navigational accuracy inside and outside the datum array is high when using the LBL/SINS/DVL mode; if the AUV is far from the datum array when climbing to the surface, the LBL cannot provide accurate position calibration while the DVL fails, resulting in large deviations in the SINS results. In summary, the use of multi-sensor combination navigation schemes is beneficial, and accurate position information acquisition should be based on the demand and cost, while other factors should also be comprehensively considered; this paper proposes the use of the LBL/SINS/DVL system scheme.

show abstract

Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Liu,

Sun,

et al. 2024

Remote Sensing

Self Cite

View full text Add to dashboard Cite

show abstract

“…The traditional calculation of straight-line distance is based on the assumption that the sound speed is a constant in the water. Actually, the sound speed is a complex function of temperature, salinity and pressure, which have strong temporal and spatial characteristics (Liu et al, 2020). The change of sound speed with depth is expressed by the sound speed profile (SSP).…”

Section: Introductionmentioning

confidence: 99%

A new underwater positioning model based on average sound speed

Liu

Xue

et al. 2021

J. Navigation

Self Cite

View full text Add to dashboard Cite

The layout of seafloor datum points is the key to constructing the seafloor geodetic datum network, and a reliable underwater positioning model is the prerequisite for achieving precise deployment of the datum points. The traditional average sound speed positioning model is generally adopted in underwater positioning due to its simple and efficient algorithm, but it is sensitive to incident angle related errors, which lead to unreliable positioning results. Based on the relationship between incident angle and sound speed, the sound speed function model considering the incident angle has been established. Results show that the accuracy of positioning is easily affected by errors related to the incident angle; the new average sound speed correction model based on the incident angle proposed in this paper is used to significantly improve the underwater positioning accuracy.

show abstract

Single-differenced models for GNSS-acoustic seafloor point positioning

Xue

Yang

2022

J Geod

View full text Add to dashboard Cite

Influence of the ray elevation angle on seafloor positioning precision in the context of acoustic ray tracing algorithm

Cited by 9 publications

References 20 publications

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

A new underwater positioning model based on average sound speed

Single-differenced models for GNSS-acoustic seafloor point positioning

Contact Info

Product

Resources

About