Academic Journal
Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles
| العنوان: | Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles |
|---|---|
| المؤلفون: | Webster, Sarah E, Eustice, Ryan M, Singh, Hanumant, Whitcomb, Louis L |
| المصدر: | The International Journal of Robotics Research ; volume 31, issue 8, page 935-950 ; ISSN 0278-3649 1741-3176 |
| بيانات النشر: | SAGE Publications |
| سنة النشر: | 2012 |
| الوصف: | This paper reports the formulation and evaluation of a centralized extended Kalman filter designed for a novel navigation system for underwater vehicles. The navigation system employs Doppler sonar, depth sensors, synchronous clocks, and acoustic modems to achieve simultaneous acoustic communication and navigation. The use of a single moving reference beacon eliminates the requirement for the underwater vehicle to remain in a bounded navigable area; the use of underwater modems and synchronous clocks enables range measurements based on one-way time-of-flight information from acoustic data-packet broadcasts. The acoustic data packets are broadcast from a single, moving reference beacon and can be received simultaneously by multiple vehicles within acoustic range. We report results from a simulated deep-water survey and real field data collected from an autonomous underwater vehicle survey in 4000 m of water on the southern Mid-Atlantic Ridge with an independent long-baseline navigation system for ground truth. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| DOI: | 10.1177/0278364912446166 |
| الاتاحة: | https://doi.org/10.1177/0278364912446166 https://journals.sagepub.com/doi/pdf/10.1177/0278364912446166 |
| Rights: | https://journals.sagepub.com/page/policies/text-and-data-mining-license |
| رقم الانضمام: | edsbas.CF0F84C5 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1177/0278364912446166 |
|---|