Hybrid Baseline Localization for Autonomous Underwater Vehicles

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• 作者：Eric Wolbrecht ; Bryce Gill ; Ryan Borth…
• 关键词：Autonomous underwater vehicle ; Underwater localization ; Navigation ; Moving baseline ; Acoustic ranging
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2015
• 出版时间：June 2015
• 年：2015
• 卷：78
• 期：3-4
• 页码：593-611
• 全文大小：4,514 KB
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• 作者单位：Eric Wolbrecht (1)
  Bryce Gill (1)
  Ryan Borth (1)
  John Canning (1)
  Michael Anderson (1)
  Dean Edwards (2)
  
  1. Mechanical Engineering Department, University of Idaho, Moscow, ID, USA
  2. Chemical and Materials Engineering Department, University of Idaho, Moscow, ID, USA
  
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Electronic and Computer Engineering
  Artificial Intelligence and Robotics
  Mechanical Engineering
  
• 出版者：Springer Netherlands
• ISSN：1573-0409

文摘

This paper presents a hybrid baseline (HBL) navigation method for autonomous underwater vehicles (AUVs). In this approach, a floating acoustic transponder is used to augment moving short baseline (MSBL) navigation, in which two transponders are mounted on a source ship. Kinematic information regarding the floating buoy and source ship are communicated via acoustic messages to the AUV fleet. Simultaneously, clock synchronization and a predefined broadcast cycle enables transponder-to-AUV range estimates based on the acoustic message time-of-flight. Using the extended Kalman (EKF) filter formulation, the broadcasted kinematic information and acoustic ranges are combined onboard each AUV in the fleet to estimate the states of the source ship, the floating transponder, and the AUV itself. Simulation was used to optimize the configuration and performance of the HBL navigation, and field tests were performed to evaluate the navigational performance. In post-processing, high-accuracy position and timing data for the source ship and floating buoy was added to the onboard navigation data in an EKF to recreate the path of the AUV. The accuracy of this post-mission localization was evaluated relative to AUV positions independently measured by an acoustic tracking array at the test facility. The resulting AUV position estimation showed a mean error of 1.59 m, an improvement over the previous result (using MSBL navigation only) of 3.30 m.