Observability Analysis of a Single-Beacon Underwater Navigation Method With Unknown Effective Sound Velocity

被引:0
|
作者
Yu, Xiang [1 ]
Qin, Hong-De [2 ]
Zhu, Zhong-Ben [2 ]
机构
[1] China Univ Petr East China, Coll Mech & Elect Engn, Qingdao 266580, Peoples R China
[2] Harbin Engn Univ, Sci & Technol Underwater Vehicle Lab, Harbin 150001, Peoples R China
基金
中国国家自然科学基金;
关键词
Observability; Navigation; Sea measurements; Oceans; Acoustics; Mathematical models; Nonlinear systems; Effective sound velocity (ESV); Kalman filter (KF); observability analysis; single-beacon navigation; VEHICLE LOCALIZATION; ACOUSTIC NAVIGATION; RANGE MEASUREMENTS; AUV NAVIGATION; AIDED INS; TRACKING; FILTER; MODEL;
D O I
10.1109/JOE.2024.3408891
中图分类号
TU [建筑科学];
学科分类号
0813 ;
摘要
For single-beacon navigation systems, the precision of the predetermined effective sound velocity (ESV) significantly affects the localization performance. However, the ESV between the pinger and receiver is time-varying, location-dependent, and difficult to determine accurately. ESV-setting errors induce large positioning errors and affect the practical applications of single-beacon navigation systems. Recently, unknown-ESV-based single-beacon navigation methods have been proposed to address the aforementioned issue, and their performances have been significantly better than those of known-ESV-based methods. This study aimed to conduct a theoretical analysis of the unknown-ESV-based single-beacon navigation methods in terms of observability. The local weak and global observabilities of an unknown-ESV-based single-beacon navigation system were investigated, and systems with and without ground-velocity measurements were considered. The observability of several common trajectories in underwater vehicles was summarized. Finally, a series of numerical simulations was conducted to validate the derived observability.
引用
收藏
页码:1634 / 1646
页数:13
相关论文
共 50 条
  • [21] Autonomous Underwater Glider Navigation with Single Seabed Beacon
    Liu, Feng
    Chen, Huifang
    Xie, Lei
    GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST, 2020,
  • [22] Decentralized Extended Information Filter for Single-Beacon Cooperative Acoustic Navigation: Theory and Experiments
    Webster, Sarah E.
    Walls, Jeffrey M.
    Whitcomb, Louis L.
    Eustice, Ryan M.
    IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (04) : 957 - 974
  • [23] Mobile beacon control algorithm that ensures observability in single range navigation
    Mandic, Filip
    Miskovic, Nikola
    Palomeras, Narcis
    Carreras, Marc
    Vallicrosa, Guillem
    IFAC PAPERSONLINE, 2016, 49 (23): : 48 - 53
  • [24] Observability analysis for a cooperative range-based navigation system that uses a rotating single beacon
    Rua, Santiago
    Vasquez, Rafael E.
    Crasta, Naveen
    Betancur, Manuel J.
    Pascoal, Antonio
    OCEAN ENGINEERING, 2022, 248
  • [25] A variational Bayesian approximation based adaptive single beacon navigation method with unknown ESV
    Qin, Hong-De
    Yu, Xiang
    Zhu, Zhong-Ben
    Deng, Zhong-Chao
    OCEAN ENGINEERING, 2020, 209
  • [26] About Accuracy Estimation of AUV Single-Beacon Mobile Navigation Using ASV, Equipped with DGPS
    Dubrovin, Fedor S.
    Scherbatyuk, Alexander Ph.
    OCEANS 2016 - SHANGHAI, 2016,
  • [27] Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 2. Simulation
    Koshaev D.A.
    Koshaev, D.A. (dkoshaev@yandex.ru), 1600, Pleiades journals (11): : 319 - 332
  • [28] Navigation error amendment for underwater robot using single beacon
    Liu, Jian
    Ji, Da-Xiong
    Kongzhi yu Juece/Control and Decision, 2010, 25 (09): : 1354 - 1358
  • [29] Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 1. Mathematical Formulation
    Koshaev D.A.
    Gyroscopy and Navigation, 2020, 11 (3) : 230 - 243
  • [30] Sound velocity correction based on effective sound velocity for underwater acoustic positioning systems
    Sun, Dajun
    Li, Haipeng
    Zheng, Cuie
    Li, Xiang
    APPLIED ACOUSTICS, 2019, 151 : 55 - 62