التفاصيل البيبلوغرافية
| العنوان: |
Development of Hydroacoustic Localization Algorithms for AUV Based on the Error-Corrected WMChan-Taylor Algorithm. |
| المؤلفون: |
Yang, Huibao, Gao, Xiujing, Li, Bangshuai, Xiao, Bo, Huang, Hongwu |
| المصدر: |
Journal of Marine Science & Engineering; Jun2024, Vol. 12 Issue 6, p974, 21p |
| مصطلحات موضوعية: |
AUTONOMOUS underwater vehicles, NOISE measurement, DYNAMIC positioning systems |
| مستخلص: |
Autonomous underwater vehicles (AUVs) are susceptible to non-line-of-sight (NLOS) errors and noise bias at receiving stations during the application of hydroacoustic localization systems, leading to a degradation in positioning accuracy. To address this problem, this paper optimizes the Chan-Taylor algorithm. Initially, we propose the Weighted Modified Chan-Taylor (WMChan-Talor) algorithm, which introduces dynamic weights into the Chan algorithm to correct noise variance at measurement stations, thereby improving the accuracy of AUV positioning. Computer simulations validate the effectiveness of the WMChan-Taylor algorithm in enhancing positioning accuracy. To further address the accuracy degradation caused by noise deviations across different receiving stations, we introduce an error-corrected WMChan-Taylor algorithm. This algorithm utilizes a standard residual function to eliminate significant delays caused by large errors at receiving stations and applies standard residual weighting to improve the combined positioning solution. The performance of the error-corrected WMChan-Taylor algorithm is demonstrated through both computer and semi-physical simulation experiments, confirming its capability to isolate noisier stations and thus enhance overall positioning accuracy. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
Complementary Index |