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

被引：4
|
作者：
Dubrovin F.S. [1 ]
Scherbatyuk A.F. [1 ,2 ]
机构：
[1] Institute of Marine Technology Problems, Far East Branch of the Russian Academy of Sciences, Vladivostok
[2] Far Easte Federal University, Vladivostok
来源：
Gyroscopy and Navigation | 2016年 / 7卷 / 2期
关键词：
GNSS; Particle Filter; Underwater Vehicle; Autonomous Underwater Vehicle; DGPS;
D O I：
10.1134/S2075108716020024
中图分类号：
学科分类号：
摘要：
This paper is devoted to navigation of autonomous underwater vehicles (AUV) with a mobile hydroacoustic beacon transported by an autonomous surface vehicle (ASV). Two algorithms for AUV positioning using information on the distance to a single beacon and the data from the onboard autonomous navigation system have been studied. The first algorithm is based on the application of the extended Kalman filter, and the other one uses the particle filter. The simulation of the considered algorithms performance and the results of the sea trials using a marine autonomous robotic complex (MARC), including an AUV and an ASV, are discussed. © 2016, Pleiades Publishing, Ltd.
引用
收藏
页码：189 / 196
页数：7
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