Observability Analysis of a Single-Beacon Underwater Navigation Method With Unknown Effective Sound Velocity

IF 3.8 2区工程技术 Q1 ENGINEERING, CIVIL

IEEE Journal of Oceanic Engineering Pub Date : 2024-08-13 DOI:10.1109/JOE.2024.3408891

Xiang Yu;Hong-De Qin;Zhong-Ben Zhu

{"title":"Observability Analysis of a Single-Beacon Underwater Navigation Method With Unknown Effective Sound Velocity","authors":"Xiang Yu;Hong-De Qin;Zhong-Ben Zhu","doi":"10.1109/JOE.2024.3408891","DOIUrl":null,"url":null,"abstract":"For single-beacon navigation systems, the precision of the predetermined effective sound velocity (ESV) significantly affects the localization performance. However, the ESV between the pinger and receiver is time-varying, location-dependent, and difficult to determine accurately. ESV-setting errors induce large positioning errors and affect the practical applications of single-beacon navigation systems. Recently, unknown-ESV-based single-beacon navigation methods have been proposed to address the aforementioned issue, and their performances have been significantly better than those of known-ESV-based methods. This study aimed to conduct a theoretical analysis of the unknown-ESV-based single-beacon navigation methods in terms of observability. The local weak and global observabilities of an unknown-ESV-based single-beacon navigation system were investigated, and systems with and without ground-velocity measurements were considered. The observability of several common trajectories in underwater vehicles was summarized. Finally, a series of numerical simulations was conducted to validate the derived observability.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"49 4","pages":"1634-1646"},"PeriodicalIF":3.8000,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Journal of Oceanic Engineering","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10634331/","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, CIVIL","Score":null,"Total":0}

引用次数: 0

Abstract

For single-beacon navigation systems, the precision of the predetermined effective sound velocity (ESV) significantly affects the localization performance. However, the ESV between the pinger and receiver is time-varying, location-dependent, and difficult to determine accurately. ESV-setting errors induce large positioning errors and affect the practical applications of single-beacon navigation systems. Recently, unknown-ESV-based single-beacon navigation methods have been proposed to address the aforementioned issue, and their performances have been significantly better than those of known-ESV-based methods. This study aimed to conduct a theoretical analysis of the unknown-ESV-based single-beacon navigation methods in terms of observability. The local weak and global observabilities of an unknown-ESV-based single-beacon navigation system were investigated, and systems with and without ground-velocity measurements were considered. The observability of several common trajectories in underwater vehicles was summarized. Finally, a series of numerical simulations was conducted to validate the derived observability.

查看原文本刊更多论文

未知有效声速下单信标水下导航方法的可观测性分析

对于单信标导航系统来说，预定有效声速（ESV）的精度对定位性能有很大影响。然而，在信标和接收器之间的 ESV 是时变的，与位置有关，并且难以准确确定。ESV 设定误差会导致较大的定位误差，影响单信标导航系统的实际应用。最近，针对上述问题提出了基于未知 ESV 的单信标导航方法，其性能明显优于基于已知 ESV 的方法。本研究旨在从可观测性方面对基于未知-ESV 的单信标导航方法进行理论分析。研究了基于未知-ESV的单信标导航系统的局部弱可观测性和全局可观测性，并考虑了有地面速度测量和无地面速度测量的系统。总结了水下航行器中几种常见轨迹的可观测性。最后，进行了一系列数值模拟以验证得出的可观测性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Journal of Oceanic Engineering 工程技术-工程：大洋

CiteScore

9.60

自引率

12.20%

发文量

审稿时长

12 months

期刊介绍： The IEEE Journal of Oceanic Engineering (ISSN 0364-9059) is the online-only quarterly publication of the IEEE Oceanic Engineering Society (IEEE OES). The scope of the Journal is the field of interest of the IEEE OES, which encompasses all aspects of science, engineering, and technology that address research, development, and operations pertaining to all bodies of water. This includes the creation of new capabilities and technologies from concept design through prototypes, testing, and operational systems to sense, explore, understand, develop, use, and responsibly manage natural resources.