Underwater Acoustic Positioning System using Ultrasonic Waves for Diving Support

Kaneko, Kodai; Kubota, Naoyuki

doi:10.23919/wac50355.2021.9559613

Cited by 2 publications

(1 citation statement)

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“…Marine localization and navigation technology is widely used in many fields such as diving and salvage, resource exploration, and environmental monitoring [Luo et al (2021); Zhang et al (2021); Su et al (2023); Zhang et al (2024); Ye et al (2023)]. Diving is the primary means by which humans explore, exploit and strategize the oceans [Brown and Wang (2013); Kaneko and Kubota (2021)]. The localization and navigation methods for divers mainly include the hydroacoustic localization method, which uses sound waves as information carriers, and the combined navigation method based on INS.…”

Section: Introductionmentioning

confidence: 99%

A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater

Ye,

Tan,

Wang

et al. 2024

Front. Mar. Sci.

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During underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, resulting in trajectory drift of the divers during prolonged self-guidance. To overcome the above problem, other aids are needed to correct the accumulated error of the INS. The single-beacon Assisted Inertial Navigation (AIN) method can improve the flexibility of inertial error correction while simplifying the localization equipment, which is suitable for the INS cumulative error correction scenario of divers. However, most of the traditional single-beacon assisted correction methods do not consider the effect of acoustic line bending on hydroacoustic ranging, and at the same time, they do not consider the problem of singular or pathological coefficient matrices introduced by inertial navigation neighbor localization deviations. Based on the above two shortcomings, this paper uses the acoustic velocity profile for acoustic line tracking, combines the localization idea of Mobile Primitives (MP), and proposes an MP-based acoustic line tracking-Assisted Inertial Navigation Localization (AINL) method, which constructs a sliding time window (STW) by taking the historical positioning of divers as a virtual primitive, and combines the nonlinear optimization method for iterative optimization search as a means to improve the accuracy and stability of self-navigation of the divers.

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