Studying Some Algorithms for AUV Navigation Using a Single Beacon: The Results of Simulation and Sea Trials

This paper is devoted to navigation of autonomous underwater vehicles (AUV) with a mobile hydroacoustic beacon transported by an autonomous surface vehicle (ASV). Two algorithms for AUV positioning using information on the distance to a single beacon and the data from the onboard autonomous navigation system have been studied. The first algorithm is based on the application of the extended Kalman filter, and the other one uses the particle filter. The simulation of the considered algorithms performance and the results of the sea trials using a marine autonomous robotic complex (MARC), including an AUV and an ASV, are discussed.

• Record URL:
  https://doi.org/10.1134/S2075108716020024
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/20751087
• Supplemental Notes:
  • © Pleiades Publishing, Ltd., 2016.
• Authors:
  • Dubrovin, F S
  • Scherbatyuk, A F
• Publication Date: 2016-4

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 189-196
• Serial:
  • Gyroscopy and Navigation
  • Volume: 7
  • Issue Number: 2
  • Publisher: Pleiades Publishing
  • ISSN: 2075-1087
  • EISSN: 2075-1109
  • Serial URL: http://link.springer.com/journal/13140

Subject/Index Terms

• TRT Terms: Algorithms; Automated vehicle control; Kalman filtering; Radar beacons; Underwater vehicles
• Uncontrolled Terms: Particle filtering; Unmanned undersea vehicles
• Subject Areas: Data and Information Technology; Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01602733
• Record Type: Publication
• Files: TRIS
• Created Date: Jun 14 2016 3:12PM