Research into the integrated navigation of a deep-sea towed vehicle with USBL/DVL and pressure gauge

Liu, Huimin; Wang, Zhenjie; Shan, Rui; He, Kaifei; Zhao, Shuang

doi:10.1016/j.apacoust.2019.107052

Cited by 17 publications

(15 citation statements)

References 11 publications

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“…They proposed various types of array element types [ 1 , 2 , 15 , 16 , 17 , 18 ]. Many positioning methods also have been presented to improve the positioning accuracy [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 19 , 20 , 21 , 22 , 23 , 24 ].…”

Section: Related Workmentioning

confidence: 99%

“…This method, with the same positioning accuracy as the orthogonal array composed of eight elements, can reduce the number of primitive elements and increase the utilization of primitive elements. From the view of signal noise reduction, most systems took advantage of the adaptive filtering algorithm or adaptive residual optimization algorithm to filter signals to obtain the signal phase difference [ 4 , 10 ], but the result was not promising. Reference [ 21 ] proposed a novel non-equidistant, quaternary array.…”

Section: Related Workmentioning

confidence: 99%

“…Reference [ 9 ] presented a combined ray-tracing method to reduce the error of slant distance. In [ 10 ], an adaptive Kalman filter to improve the positioning accuracy was adopted. References [ 11 , 12 ] designed a new SINS/USBL-coupled, integrated navigation algorithm based on the phase difference measurement.…”

Section: Related Workmentioning

confidence: 99%

“…They are the adaptive filtering [ 10 ], adaptive residuals filtering [ 4 ], and new four-element methods [ 19 ]. In the adaptive filtering method [ 10 ], a least mean-square (LMS) algorithm is utilized to update the adaptive parameters to filter noise. Due to the inaccurate estimation of the gradient value, the adaptive filtering is with noise.…”

Section: Performance Evaluation and Analysismentioning

confidence: 99%

“…We adjusted the sampling frequency from 1 MHz to 8 MHz with an interval of 1 MHz. The signals were denoised by an adaptive algorithm [ 10 ], an adaptive residuals algorithm [ 4 ], and Kalman filtering at the eight different sampling frequencies, respectively. We show the x -axis positioning accuracy of the three methods with different sample frequencies in Figure 7 ; the y-axis positioning accuracies of the three methods are of the same level.…”

Section: Performance Evaluation and Analysismentioning

confidence: 99%

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An Ultra-Short Baseline Underwater Positioning System with Kalman Filtering

Luo

Yan

Chen

et al. 2020

Sensors

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The ultra-short baseline underwater positioning is one of the most widely applied methods in underwater positioning and navigation due to its simplicity, efficiency, low cost, and accuracy. However, there exists environmental noise, which has negative impacts on the positioning accuracy during the ultra-short baseline (USBL) positioning process, which results in a large positioning error. The positioning result may lead to wrong decision-making in the latter processing. So, it is necessary to consider the error sources, and take effective measurements to minimize the negative impact of the noise. In our work, we propose a USBL positioning system with Kalman filtering to improve the positioning accuracy. In this system, we first explore a new kind of element array to accurately capture the acoustic signals from the object. We then organically combine the Kalman filters with the array elements to filter the acoustic signals, using the minimum mean-square error rule to obtain accurate acoustic signals. We got the high-precision phase difference information based on the non-equidistant quaternary original array and the phase difference acquisition mechanism. Finally, on account of the obtained accurate phase difference information and position calculation, we determined the coordinates of the underwater target. Comprehensive evaluation results demonstrate that our proposed USBL positioning method based on the Kalman filter algorithm can effectively enhance the positioning accuracy.

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