Research on acoustic positioning system in the process of AUV recovery

Author

Ma, Shiguo ; Liu, Guangliang ; Yang, Dong ; Wang, Yali

Author_Institution

Shandong Provincial Key Lab. of Robot & Manuf. Autom. Technol., Inst. of Autom., Jinan, China

fYear

2012

Firstpage

447

Lastpage

451

Abstract

As the speed of sound is interfered easily in the complex environment, the positioning information given by SBL sonar usually has noises. To solve this problem, this paper gives a positioning method based on Kalman filtering, which lays a good foundation for the application of AUV in the complex ocean environment in future, and has a good value on the practical application of engineering. In details, it disposes sensor data to get exact positioning information, and the validity is fully proved by tank experiment of AUV. The experiment results indicate that the positioning precision of SBL sonar is enhanced from 3.99% to 1.41%, at the same time, the designed demand of AUV is satisfied.

Keywords

Kalman filters; acoustic transducers; autonomous underwater vehicles; oceanography; position control; sonar; AUV application; AUV recovery process; Kalman filtering-based positioning method; SBL sonar positioning precision; acoustic positioning system; complex environment; complex ocean environment; positioning information; sensor data; sound speed; Accuracy; Equations; Filtering algorithms; Sonar equipment; Strontium; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on

Conference_Location

Tokyo

ISSN

1756-8412

Print_ISBN

978-1-4673-1962-1

Type

conf

Filename

6329621