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题名: Localization of underwater gliders with acoustic travel-time in an observation network
作者: 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: OCEANS 2016 - Shanghai
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 1-5
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000386521800168
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18771
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Sun J,Liu SJ,Yu JC,et al. Localization of underwater gliders with acoustic travel-time in an observation network[C]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.
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文件名: Localization of underwater gliders with acoustic travel-time in an observation network.pdf
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