Underwater inertial navigation is particularly difficult for the long-durance operations as many navigation systems such global satellite navigation systems are unavailable.The acoustic signal is a marvelous choice fo...Underwater inertial navigation is particularly difficult for the long-durance operations as many navigation systems such global satellite navigation systems are unavailable.The acoustic signal is a marvelous choice for underwater inertial error rectification due to its underwater penetration capability.However,the traditional Acoustic Positioning Systems(APS)are expensive and incapable of positioning with limited acoustic observations.Two novel underwater inertial error rectification algorithms with limited acoustic observations are proposed.The first one is the single acoustic-beacon Range-only Matching Aided Navigation(RMAN)method,which is inspired by matching navigation without reference maps and presented for the first time.The second is the improved single acoustic-beacon Virtual Long Baseline(VLBL)method,which considers the impact of indicated relative position increments on virtual beacon reconstruction.Both RMAN and improved VLBL are further developed when multi acoustic-beacons are available,named mAB-RMAN and mAB-VLBL.The comprehensive simulations and field investigations were conducted.The results demonstrated that the proposed methods achieved excellent accuracy and stability compared to the baseline,specifically,the mAB-RMAN and mAB-VLBL can reduce the inertial error by more than 90%and 98%when using single and double acoustic-beacons,respectively.These proposed techniques will provide new perspectives for underwater positioning,navigation,and timing.展开更多
To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave r...To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot's position.The simulation results show its effectiveness of the proposed algorithm.展开更多
基金funding was provided by Natural Science Foundation of China(Grant numbers 42004067,62373367,42176195)。
文摘Underwater inertial navigation is particularly difficult for the long-durance operations as many navigation systems such global satellite navigation systems are unavailable.The acoustic signal is a marvelous choice for underwater inertial error rectification due to its underwater penetration capability.However,the traditional Acoustic Positioning Systems(APS)are expensive and incapable of positioning with limited acoustic observations.Two novel underwater inertial error rectification algorithms with limited acoustic observations are proposed.The first one is the single acoustic-beacon Range-only Matching Aided Navigation(RMAN)method,which is inspired by matching navigation without reference maps and presented for the first time.The second is the improved single acoustic-beacon Virtual Long Baseline(VLBL)method,which considers the impact of indicated relative position increments on virtual beacon reconstruction.Both RMAN and improved VLBL are further developed when multi acoustic-beacons are available,named mAB-RMAN and mAB-VLBL.The comprehensive simulations and field investigations were conducted.The results demonstrated that the proposed methods achieved excellent accuracy and stability compared to the baseline,specifically,the mAB-RMAN and mAB-VLBL can reduce the inertial error by more than 90%and 98%when using single and double acoustic-beacons,respectively.These proposed techniques will provide new perspectives for underwater positioning,navigation,and timing.
基金Natural Science Foundation of Liaoning Province(20102236)
文摘To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot's position.The simulation results show its effectiveness of the proposed algorithm.
