Comparing some algorithms for AUV single beacon mobile navigation

Author

Gatsenko, Andrei ; Dubrovin, Fedor ; Scherbatyuk, Alexander

Author_Institution

Far Eastern Fed. Univ., Vladivostok, Russia

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

5

Abstract

This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position estimation on base of data from the onboard reckoning system and a synthetic long base line acoustical positioning system (APS) were considered. The first algorithm is based on the discrete Kalman filter and the second uses the particle filter. Some simulation results of the algorithms operation are supplemented.

Keywords

autonomous underwater vehicles; mobile robots; particle filtering (numerical methods); path planning; position control; underwater sound; APS; AUV position estimation; AUV single-beacon mobile navigation; autonomous surface vehicle; autonomous underwater vehicle navigation; discrete Kalman filter; mobile hydroacoustic beacon; onboard reckoning system; particle filter; synthetic long-base line acoustical positioning system; Estimation; Kalman filters; Mobile communication; Navigation; Particle filters; Trajectory; Underwater vehicles; autonomous surface vehicle; autonomous underwater vehicle; mobile hydroacoustic beacon; single beacon navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003048

Filename

7003048