Self-localization of autonomous underwater vehicles with accurate sound travel time solution
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- 作者：Jing Lia ; sayqie@aliyun.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Han GaoaAuthor Vitae ; Shujing ZhangbAuthor Vitae ; Shuai ChangaAuthor Vitae ; Jiaxing Chenb ; 13930194955@163.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Zhihua Liuc ; hebtuliuzhihua@163.com" class="auth_mail" title="E-mail the corresponding author ; liuzhihua@mail.hebtu.edu.cn" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Underwater acoustic sensor networks ; Autonomous underwater vehicles ; Self-localization ; Sound travel time ; Ranging optimization
- 刊名：Computers & Electrical Engineering
- 出版年：2016
- 出版时间：February 2016
- 年：2016
- 卷：50
- 期：Complete
- 页码：26-38
- 全文大小：1168 K
文摘
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RTR causes large ranging error.
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AOA and AUV's orientation are processed to produce accurate OWTT.
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Mathematical expectation of underwater sound speed reasonably catches its uncertainty.
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LMA serves as an effective ranging optimizer to localize the AUV.
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The strategy is sensitive to time measurement noise and less affected by angle measurement noise.