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Model-aided localization and navigation for underwater gliders using single-beacon travel-time differences
Sun J(孙洁)1,2,3; Hu F(胡峰)1,2; Jin WM(金文明)1,2; Wang J(王瑾)1,2; Wang X(王旭)1,2; Luo YT(罗业腾)1,2; Yu JC(俞建成)1,2; Zhang AQ(张艾群)1,2
Department海洋机器人卓越创新中心
Corresponding AuthorYu, Jiancheng(yjc@sia.cn)
Source PublicationSensors (Switzerland)
ISSN1424-8220
2020
Volume20Issue:3Pages:1-21
Indexed BySCI ; EI
EI Accession number20200808193508
WOS IDWOS:000517786200317
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China under Grant Nos. 61673370, U1709202, 41706112, 51809256, 61821005 ; National Key Research and Development Project under Grant No. 2016YFC0301201 ; State Key Laboratory of Robotics at the Shenyang Institute of Automation under Grant Nos. 2020-Z06, 2014-Z02, 2015-Z09, 2017-Z13
Keywordunderwater gliders modified kinematic model travel-time difference EKF estimation RTS smoothing
Abstract

An accurate motion model and reliable measurements are required for autonomous underwater vehicle localization and navigation in underwater environments. However, without a propeller, underwater gliders have limited maneuverability and carrying capacity, which brings difficulties for modeling and measuring. In this paper, an extended Kalman filter (EKF)-based method, combining a modified kinematic model of underwater gliders with the travel-time differences between signals received from a single beacon, is proposed for estimating the glider positions in a predict-update cycle. First, to accurately establish a motion model for underwater gliders moving in the ocean, we introduce two modification parameters, the attack and drift angles, into a kinematic model of underwater gliders, along with depth-averaged current velocities. The attack and drift angles are calculated based on the coefficients of hydrodynamic forces and the sensor-measured angle variation over time. Then, instead of satisfying synchronization requirements, the travel-time differences between signals received from a single beacon, multiplied by the sound speed, are taken as the measurements. To further reduce the EKF estimation error, the Rauch-Tung-Striebel (RTS) smoothing method is merged into the EKF system. The proposed method is tested in a virtual spatiotemporal environment from an ocean model. The experimental results show that the performance of the RTS-EKF estimate is improved when compared with the motion model estimate, especially by 46% at the inflection point, at least in the particular study developed in this article.

Language英语
WOS SubjectChemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordAUV NAVIGATION ; ACOUSTIC NAVIGATION ; COOPERATIVE LOCALIZATION ; ENVIRONMENTS ; STATE
WOS Research AreaChemistry ; Engineering ; Instruments & Instrumentation
Funding ProjectNational Natural Science Foundation of China[61673370] ; National Natural Science Foundation of China[U1709202] ; National Natural Science Foundation of China[41706112] ; National Natural Science Foundation of China[51809256] ; National Natural Science Foundation of China[61821005] ; National Key Research and Development Project[2016YFC0301201] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2020-Z06] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2014-Z02] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2015-Z09] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2017-Z13]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26305
Collection海洋机器人卓越创新中心
Corresponding AuthorYu JC(俞建成)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Sun J,Hu F,Jin WM,et al. Model-aided localization and navigation for underwater gliders using single-beacon travel-time differences[J]. Sensors (Switzerland),2020,20(3):1-21.
APA Sun J.,Hu F.,Jin WM.,Wang J.,Wang X.,...&Zhang AQ.(2020).Model-aided localization and navigation for underwater gliders using single-beacon travel-time differences.Sensors (Switzerland),20(3),1-21.
MLA Sun J,et al."Model-aided localization and navigation for underwater gliders using single-beacon travel-time differences".Sensors (Switzerland) 20.3(2020):1-21.
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