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题名: Deep sea AUV navigation using multiple acoustic beacons
作者: 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
刊名: China Ocean Engineering
ISSN号: 0890-5487
出版日期: 2016
卷号: 30, 期号:2, 页码:309-318
收录类别: SCI ; EI ; CSCD
产权排序: 1
项目资助者: 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记录号: WOS:000373391100012
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical ; Water Resources
关键词[WOS]: AUTONOMOUS UNDERWATER VEHICLES ; BASE-LINE SYSTEM ; LOCALIZATION
研究领域[WOS]: Engineering ; Water Resources
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18500
Appears in Collections:水下机器人研究室_期刊论文

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Recommended Citation:
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.
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文件名: Deep sea AUV navigation using multiple acoustic beacons.pdf
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