A single acoustic beacon-based positioning method for underwater mobile recovery of an AUV

International Journal of Advanced Robotic Systems

ZiyeZhou¹ 

关键词: Autonomous underwater vehicle recovery;    underwater navigation;    inertial navigation;    ultra-short baseline;    data fusion;   

DOI  :  10.1177/1729881418801739

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article presents a navigation method for an autonomous underwater vehicle being recovered by a human-occupied vehicle. The autonomous underwater vehicle is considered to carry underwater navigation sensors such as ultra-short baseline, Doppler velocity log, and inertial navigation system. Using these sensors’ information, a navigation module combining the ultra-short baseline positioning and inertial positioning is established. In this study, there is assumed to be no communication between the autonomous underwater vehicle and human-occupied vehicle; thus, to obtain the autonomous underwater vehicle position in the inertial coordinate, a conjecture method to obtain the human-occupied vehicle coordinates is proposed. To reduce the error accumulation of autonomous underwater vehicle navigation, a method called one-step dead reckoning positioning is proposed, and the one-step dead reckoning positioning is treated as a correction to combine with ultra-short baseline positioning by a data fusion algorithm. One-step dead reckoning positioning is a positioning method based on the previous time-step coordinates of the autonomous underwater vehicle.

【 授权许可】

CC BY