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
相关论文
共 50 条
  • [41] Global Positioning System Denied Navigation of Autonomous Parafoil Systems Using Beacon Measurements From a Single Location
    Cacan, Martin R.
    Costello, Mark
    Scheuermann, Edward
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2018, 140 (04):
  • [42] Underwater navigation using a single beacon based on the time delays of the direct signals and the surface-reflected signals
    Wang, Yan
    Zhang, Xinyu
    Sun, Sibo
    Wang, Jinjin
    APPLIED ACOUSTICS, 2022, 187
  • [43] Results of the simulation study: Under which scenario is Northern Sea Route navigation economically feasible?
    Kamesaki, K
    21ST CENTURY - TURNING POINT FOR THE NORTHERN SEA ROUTE?, 2000, : 105 - 109
  • [44] Preliminary Deep Water Results in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles
    Webster, Sarah E.
    Eustice, Ryan M.
    Singh, Hanumant
    Whitcomb, Louis L.
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 2053 - 2060
  • [45] SOME LOCATION-PROBLEMS FOR ROBOT NAVIGATION USING A SINGLE CAMERA
    SUGIHARA, K
    COMPUTER VISION GRAPHICS AND IMAGE PROCESSING, 1988, 42 (01): : 112 - 129
  • [46] Some Invariant Point Results Using Simulation Function
    Venkatesh
    Raju, Naga
    INTERNATIONAL JOURNAL OF ANALYSIS AND APPLICATIONS, 2023, 21
  • [47] Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences
    Sun, Jie
    Hu, Feng
    Jin, Wenming
    Wang, Jin
    Wang, Xu
    Luo, Yeteng
    Yu, Jiancheng
    Zhang, Aiqun
    SENSORS, 2020, 20 (03)
  • [48] Vehicle navigation using GPS aided by speed and heading information: Simulation results
    Yoon, S
    Lundberg, JB
    ION GPS-97, PT 1 AND 2: PROCEEDINGS OF THE 10TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION, 1997, : 945 - 951
  • [49] Processor Functional Test Generation - Some Results with Using of Genetic Algorithms
    Hudec, Jan
    2011 2ND EASTERN EUROPEAN REGIONAL CONFERENCE ON THE ENGINEERING OF COMPUTER BASED SYSTEMS (ECBS-EERC), 2011, : 159 - 160
  • [50] A Machine Learning Approach for Dead-Reckoning Navigation at Sea Using a Single Accelerometer
    Diamant, Roee
    Jin, Yunye
    IEEE JOURNAL OF OCEANIC ENGINEERING, 2014, 39 (04) : 672 - 684
12345