Feasibility of low-power one-way travel-time inverted ultra-short baseline navigation

M. Jakuba, J. Kinsey, J. Partan, Sarah E. Webster
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引用次数: 23

Abstract

Recent and underway development efforts promise to deliver long endurance and deep-diving autonomous underwater vehicles with the potential to persistently observe the deep (6000 m) ocean interior and sea floor over time scales of months to years. These assets and their shallow-diving (<;1000 m) predecessors navigate primarily by dead-reckoning between surfacing for GPS fixes, a paradigm that precludes their use in missions where science objectives call for precise navigation deep in the water column or near the deep sea floor. Coupled with a single autonomous surface vessel, one-way travel time inverted ultrashort baseline positioning (OWTT-iUSBL) offers a compelling, but presently unrealized, alternative to infrastructure-intensive external acoustic aiding. Such systems could provide navigation aiding to multiple underwater vehicles while retaining a level of autonomy and endurance for the system as a whole comparable to that of a solitary vehicle. While the concept of OWTT-iUSBL is not new, we argue that the maturity of acoustic modem technology combined with the emergence of very low-power precision timing and attitude sensors will make it possible to deploy OWTT-iUSBL systems on low-power underwater vehicles in the near term. This paper presents two analyses in support of this conjecture. First, we discuss the factors that govern the achievable accuracy of OWTT-iUSBL navigation and present single-fix error budgets for specific system configurations using representative commercially-available components. Second, we consider the impact of a specific low-power configuration on the endurance of a deepprofiling autonomous underwater glider. Our analyses suggest that a practically realizable OWTT-iUSBL system could provide navigational accuracy 1-2 orders of magnitude superior to that presently achievable using periodic ascents to acquire global positioning system (GPS), and, for sufficiently deep deployments, actually yield more near-bottom data despite reducing overall vehicle endurance.
低功率单程行程时倒立超短基线导航的可行性
最近和正在进行的开发工作有望提供长航时和深潜的自主水下航行器,具有持续观察深海(6000米)内部和海底的潜力,时间尺度为数月至数年。这些设备和它们的浅潜(< 1000米)前辈主要通过在GPS定位的海面之间进行航位推算来导航,这种模式妨碍了它们在科学目标要求在深水柱或深海附近精确导航的任务中使用。与单艘自主水面舰艇相结合,单向航行时间倒置超短基线定位(OWTT-iUSBL)提供了一种引人注目的、但目前尚未实现的替代基础设施密集型外部声学辅助的方法。这样的系统可以为多个水下航行器提供导航辅助,同时保持系统作为一个整体的自主性和续航力水平,与单个航行器相当。虽然OWTT-iUSBL的概念并不新鲜,但我们认为,声学调制解调器技术的成熟,加上极低功率精密定时和姿态传感器的出现,将使OWTT-iUSBL系统在短期内部署在低功率水下航行器上成为可能。本文提出了支持这一猜想的两个分析。首先,我们讨论控制OWTT-iUSBL导航可实现精度的因素,并使用具有代表性的商业可用组件给出特定系统配置的单次修复错误预算。其次,我们考虑了一种特定的低功耗配置对深剖面自主水下滑翔机续航力的影响。我们的分析表明,实际可实现的OWTT-iUSBL系统提供的导航精度比目前使用周期性上升获取全球定位系统(GPS)所能达到的精度高1-2个数量级,并且,在足够深的部署下,尽管降低了车辆的整体续航能力,但实际上可以获得更多的近底部数据。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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