Self-localization of autonomous underwater vehicles with accurate sound travel time solution

Li, Jing; Gao, Han; Zhang, Shujing; Chang, Shuai; Chen, Jiaxing; Liu, Zhihua

doi:10.1016/j.compeleceng.2015.11.018

Cited by 16 publications

(15 citation statements)

References 9 publications

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“…Thus, the one-way travel time (OWTT) of an acoustic signal traveling from the AUV to a transponder may not equal the opposite case. The problem of the time is not synchronized between transponders and AUV is considered in [18], which measures the two-way travel time (TWTT) Δ based on transponder with…”

Section: Problem Formulationmentioning

confidence: 99%

“…. The values of direction cosine for → 3 along -axis,axis, and -axis are sin( − ) cos , sin( − ) sin , and cos( − ), respectively [18].…”

Section: Problem Formulationmentioning

confidence: 99%

“…The single-way distance measurements are obtained by the distance estimation method [18]; it is called accurate single-way distance measurement (ASDM) owing to the fact that the current is taken into account in this paper: namely,…”

Section: Multiple-array Underwater Acoustic Localizationmentioning

confidence: 99%

“…The specific type of sensors and the noise function for a given sensor are ignored in this paper. To show the advantages of PSO localization approach based outliers elimination, it is compared with the RTR technology [17] and SL-STTS algorithm [18]. To remove the random effects on the singleway range localization and validate the performance of our algorithm, every experiment was conducted 20 times.…”

Section: Simulation Experimentsmentioning

confidence: 99%

“…Gao et al [17] proposed the round-trip ranging (RTR) technology frustrated by the long propagation delay, the drift term of the water current, multipath property of the underwater environment, and AUVs' mobility. And Li et al [18] presented a self-localization algorithm with accurate sound travel time solution (SL-STTS) which solved the problem of time-synchronization and sound speed uncertainty; however, the drift term of the water current was ignored and the measurements of multiple sensors are not fully utilized.…”

Section: Introductionmentioning

confidence: 99%

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A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination

Fan

et al. 2018

Journal of Robotics

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Localization of autonomous underwater vehicles (AUVs) is a very important and challenging task for the AUVs applications. In long baseline underwater acoustic localization networks, the accuracy of single-way range measurements is the key factor for the precision of localization of AUVs, whether it is based on the way of time of arrival (TOA), time difference of arrival (TDOA), or angle of arrival (AOA). The single-way range measurements do not depend on water quality and can be taken from long distances; however, there are some limitations which exist in these measurements, such as the disturbance of the unknown current velocity and the outliers caused by sensors and errors of algorithm. To deal with these problems, an AUV self-localization algorithm based on particle swarm optimization (PSO) of outliers elimination is proposed, which improves the performance of angle of arrival (AOA) localization algorithm by taking account of effects of the current on the positioning accuracy and eliminating possible outliers during the localization process. Some simulation experiments are carried out to illustrate the performance of the proposed method compared with another localization algorithm.

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Section: Problem Formulationmentioning

confidence: 99%

“…. The values of direction cosine for → 3 along -axis,axis, and -axis are sin( − ) cos , sin( − ) sin , and cos( − ), respectively [18].…”

Section: Problem Formulationmentioning

confidence: 99%

Section: Multiple-array Underwater Acoustic Localizationmentioning

confidence: 99%

Section: Simulation Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination

Fan

et al. 2018

Journal of Robotics

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Low power hardware design and its mathematical modeling for fast‐exact geolocalization system in wireless networks

Zaidi

Bouazzi

Al-Rayif

et al. 2022

Int J Communication

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Summary A significant goal in achieving position calculation is to reduce and simplify the instructions that the Mobile Station (MS) has to accomplish in the location determination algorithm. Standard techniques widely used in many applications can be classified into Received Signal Strength Indicator (RSSI), Angle of Arrival (AoA), Time Difference of Arrival (TDoA), and Time of Arrival (ToA). However, all are almost determined by the standard trigonometric complex computation methods that are usually implemented in software where the complexity is considerable. The development of a simple and efficient technique for MS location estimation is the main objective of this paper. To design a modern hardware‐oriented algorithm, a new approach using simple Add‐and‐Shift operations in the computation is proposed and it can be implemented in a hardware target. In order to accelerate the geopositioning process, the Coordinate Rotation Digital Computer (CORDIC) algorithm has been used in this proposal. The proposed algorithm is simpler and faster than conventional ones; thus, complexity in terms of time, power consumption, and chip area has been reduced. Therefore, the algorithm is suitable for applications with limited computational and power resources. Based on comparisons with the state‐of‐the‐art algorithms, it is concluded that the proposed technique is more exact and less complex.

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