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Localization of underwater gliders with acoustic travel-time in an observation network
Sun J(孙洁); Liu SJ(刘世杰); Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民)
作者部门水下机器人研究室
会议名称OCEANS 2016 - Shanghai
会议日期April 10-13, 2016
会议地点Shanghai, China
会议录名称OCEANS 2016 - Shanghai
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码1-5
收录类别EI ; CPCI(ISTP)
EI收录号20162902613042
WOS记录号WOS:000386521800168
产权排序1
ISSN号0197-7385
ISBN号978-1-4673-9724-7
摘要This paper presents a method to localize underwater gliders in observation networks, and this method is also applicable to other vehicles. Utilizing the travel time of acoustic signals from near-surface acoustic sources, the dead-reckoning positions of underwater gliders can be refined. Specifically, compare two kinds of travel time, one is simulated by an acoustic model for a series of possible positions of underwater gliders, and the other is the measured travel time for real positions of underwater gliders, then the most possible positions of gliders can be estimated, also the speed of ocean currents. The method formulation is based on particle filters, which could improve performance of the positioning system over time. Simulation is conducted according to experimental environment in the South China Sea, and the positioning results are compared with the dead-reckoning positions derived from experimental data, validating the effectiveness of this method.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18771
专题水下机器人研究室
通讯作者Sun J(孙洁)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, United States
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GB/T 7714
Sun J,Liu SJ,Yu JC,et al. Localization of underwater gliders with acoustic travel-time in an observation network[C]. Piscataway, NJ, USA:IEEE,2016:1-5.
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