Deep Sea AUV Navigation Using Multiple Acoustic Beacons |
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| Authors: | JI Da-xiong SONG Wei ZHAO Hong-yu and LIU Jian |
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| Institution: | Ocean Collage, Zhejiang University, Zhoushan 316021, China;Ocean Collage, Zhejiang University, Zhoushan 316021, China;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences,
Shenyang 110016, China;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences,
Shenyang 110016, China |
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| Abstract: | Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation. |
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| Keywords: | deep sea AUV acoustic navigation range measurements multiple beacons outlier recognition |
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