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Deep sea AUV navigation using multiple acoustic beacons
Ji DX(冀大雄); Song W(宋伟); Zhao HY(赵宏宇); Liu J(刘健)
作者部门水下机器人研究室
关键词Deep Sea Auv Acoustic Navigation Range Measurements Multiple Beacons Outlier Recognition
发表期刊China Ocean Engineering
ISSN0890-5487
2016
卷号30期号:2页码:309-318
收录类别SCI ; EI ; CSCD
EI收录号20161402201095
WOS记录号WOS:000373391100012
CSCD记录号CSCD:5698570
产权排序1
资助机构National Natural Science Foundation of China (Grant No. 51309215)
摘要Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.
语种英语
WOS标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical ; Water Resources
关键词[WOS]AUTONOMOUS UNDERWATER VEHICLES ; BASE-LINE SYSTEM ; LOCALIZATION
WOS研究方向Engineering ; Water Resources
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
被引频次:2[CSCD]   [CSCD记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18500
专题水下机器人研究室
通讯作者Song W(宋伟)
作者单位1.Ocean Collage, Zhejiang University, Zhoushan, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Ji DX,Song W,Zhao HY,et al. Deep sea AUV navigation using multiple acoustic beacons[J]. China Ocean Engineering,2016,30(2):309-318.
APA Ji DX,Song W,Zhao HY,&Liu J.(2016).Deep sea AUV navigation using multiple acoustic beacons.China Ocean Engineering,30(2),309-318.
MLA Ji DX,et al."Deep sea AUV navigation using multiple acoustic beacons".China Ocean Engineering 30.2(2016):309-318.
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