Title :
Some algorithms of cooperative AUV navigation with mobile surface beacon
Author :
Sergeenko, Nikolay ; Scherbatyuk, Alexander ; Dubrovin, Fedor
Author_Institution :
Inst. for Marine Technol. Problems (IMTP), Vladivostok, Russia
Abstract :
The problem of autonomous underwater vehicle group navigation based on use of single mobile hydroacoustic beacon is discussed in this paper. Mobile beacon is transported by autonomous surface vehicle. Some algorithms are considered and operation of the proposed approach is simulated for the case of three working together autonomous underwater vehicles and one autonomous surface vehicle.
Keywords :
Kalman filters; autonomous underwater vehicles; marine navigation; underwater acoustic propagation; autonomous surface vehicle; autonomous underwater vehicle group navigation; autonomous underwater vehicles; cooperative AUV navigation; mobile surface beacon; single mobile hydroacoustic beacon; Accuracy; Covariance matrices; Estimation; Kalman filters; Mobile communication; Navigation; Vehicles; autonomous surface vehicle; autonomous underwater vehicle; cooperative navigation; mobile beacon;
Conference_Titel :
Oceans - San Diego, 2013
Conference_Location :
San Diego, CA
