Studying some algorithms for AUV navigation using a single beacon: The results of simulation and sea trials

Dubrovin, Fedor; Scherbatyuk, Alexander

doi:10.1134/s2075108716020024

Cited by 10 publications

(6 citation statements)

References 1 publication

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“…The range between the surface buoy and the AUV is estimated thru measurement of the acoustic communication Time Of Flight (TOF). In order to perform the TOF measurement the clocks in the surface buoy and AUV must be synchronized [19].…”

Section: Developed Solutionsmentioning

confidence: 99%

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Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging

Menna

Villar

Acosta

2020

Global Oceans 2020: Singapore – U.S. Gulf Coast

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Autonomous Underwater Vehicles (AUVs) are platforms suitable for a wide variety of applications in the marine environment with economic and operational advantages. In these applications an AUV performs a given task as a mission. During the mission execution, the AUV will move around the environment following paths that allow it to fulfill the mission's objectives. To achieve this, a reliable Navigation System (NS) is required. In addition to this, the current operating concept includes the deployment of multiple AUVs on a given area, thus a communication system between vehicles is also required. In the underwater environment both navigation and communication systems deals with the particular characteristics of the medium that limits the use of conventional techniques. In this work, a complete NS for an AUV is presented. The developed NS is based on an inertial navigation scheme with velocity and position aiding. The position aiding takes advantage of the communication system onboard the vehicle, which avoids the use of additional positioning systems. The fundamentals of the applied solutions are described and experimental results and implementation details are provided. Also conclusions and future works are presented.

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Section: Developed Solutionsmentioning

confidence: 99%

“…A non-parametric Bayesian filtering algorithm that allows to treat non-linear and non-Gaussian systems is the Particle Filter (PF) algorithm. The PF has the potential to provide better results than the EKF or UKF implementations [18] and [19]. Despite this, PF based underwater navigation implementations are scarce [20].…”

Section: Introductionmentioning

confidence: 99%

Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging

Menna

Villar

Acosta

2020

Global Oceans 2020: Singapore – U.S. Gulf Coast

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“…The single‐beacon system has the advantage of reducing calibration requirements, but it requires careful planning and control of the trajectories of both the ship and the AUV if there is to be no ambiguity in derived position fixes [12, 13]. A group of AUVs also can be accompanied by a single beacon in a surface vehicle, while the surface vehicle is positioned by a global navigation satellite system (GNSS) [14]. This method can locate multiple AUVs simultaneously and economically.…”

Section: Introductionmentioning

confidence: 99%

Underwater acoustic positioning with a single beacon and a varied baseline for a multi‐jointed AUV in the deep ocean

Zu-bin

Yang

et al. 2020

IET Radar, Sonar & Navigation

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“…With the reduction of land resources, the exploration of marine resources has become particularly important. An underwater vehicle is the main tool to explore the marine resource, and the complex submarine environment requires high flexibility and controllability of the vehicle [1][2][3][4]. At present, most layout schemes of underwater vehicle are as follows:…”

Section: Introductionmentioning

confidence: 99%

“…the propeller can be obtained by using Equations (9),(10), and(12).The space coordinates of the three spherical hinges ( 1,2,3) = S Si i P in the S coordinate can be obtained by using Equations (1),(2), and (8) taking the driving branched chain as an example, as shown inFigure 2.…”

mentioning

confidence: 99%

An Underwater Vector Propulsion Device Based on the RS+2PRS Parallel Mechanism and Its Attitude Control Algorithm

2019

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In order to overcome the disadvantages of some existing autonomous underwater vehicles (AUVs), such as actuator extraposition and degree-of-freedom (DOF) redundancy, a 2-DOF vector propeller propulsion system with built-in actuator based on the deficient DOF parallel mechanism is proposed. The RS+2PRS (Revolute-Spherical+ Prismatic-Revolute-Spherical) parallel mechanism is used as the main structure, and the driving parts are placed in the interior of the AUV cabin, which is beneficial to the sealing and protection of the propulsion system. In addition, the motion parameters decoupling shows that the two independent parameters are the precession angle and the nutation angle of the propeller installation platform. Therefore, the attitude control algorithm uses two prismatic joints as driving units to establish the nonlinear mapping model with the two Euler attitude angles. In the end, the simulation analysis and the real device are used to verify the feasibility of the attitude control algorithm and the in situ adjustment function of the propeller, which lays the theoretical foundation for engineering applications in the future.

show abstract

Studying some algorithms for AUV navigation using a single beacon: The results of simulation and sea trials

Cited by 10 publications

References 1 publication

Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging

Particle Filter based Autonomous Underwater Vehicle Navigation System aided thru acoustic communication ranging

Underwater acoustic positioning with a single beacon and a varied baseline for a multi‐jointed AUV in the deep ocean

An Underwater Vector Propulsion Device Based on the RS+2PRS Parallel Mechanism and Its Attitude Control Algorithm

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