利用移动信标的方位测量进行水下航行器导航⁎

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.10.097

Simon A. Hoff , Henrik M. Schmidt-Didlaukies , Erlend A. Basso , Damiano Varagnolo , Kristin Y. Pettersen

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引用次数: 0

摘要

自主式水下航行器可实现高效的水下作业，如测绘、监视和检查。然而，由于缺乏全球导航卫星系统（GNSS）信号，姿态估计值会随时间发生漂移。解决这一问题的常见方法是使用固定或移动信标来提供测距和可能的方位测量，以限制随时间变化的导航误差。然而，这需要占用通信带宽来获得可靠的往返距离测量。在本文中，我们提出了一种由移动信标被动监听水下航行器通信以估算航行器位置的系统。我们的研究表明，通过移动信标的策略性移动，估计误差在一段时间内是有界限的。

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Underwater vehicle navigation using bearing measurements from a mobile beacon⁎

Autonomous underwater vehicles enable efficient underwater operations such as mapping, surveillance, and inspection. However, due to the lack of global navigation satellite systems (GNSS) signals, drift in pose estimates will occur over time. Common solutions to this issue are using either stationary or mobile beacons to provide range and possibly bearing measurements to bound the navigation error over time. However, this requires occupying communication bandwidth to get reliable round-trip range measurements. In this paper, we propose a system where a mobile beacon passively listens to communications from the underwater vehicle to estimate the position of the vehicle. We show that the estimation error is bounded over time through strategic movement of the mobile beacon.

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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