A single acoustic beacon-based positioning method for underwater mobile recovery of an AUV. (21st September 2018)

• Record Type: Journal Article
• Authors: Zhou, Ziye; Jiang, Yanqing; Li, Ye; Jian, Cao; Sun, Yeyi
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 5(2018:Sep./Oct.)
• Publication Date: 2018-09-21
• Subjects: Autonomous underwater vehicle recovery -- underwater navigation -- inertial navigation -- ultra-short baseline -- data fusion; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418801739
• Languages: English
• ISSNs: 1729-8806

Abstract

This article presents a navigation method for an autonomous underwater vehicle being recovered by a human-occupied vehicle. The autonomous underwater vehicle is considered to carry underwater navigation sensors such as ultra-short baseline, Doppler velocity log, and inertial navigation system. Using these sensors' information, a navigation module combining the ultra-short baseline positioning and inertial positioning is established. In this study, there is assumed to be no communication between the autonomous underwater vehicle and human-occupied vehicle; thus, to obtain the autonomous underwater vehicle position in the inertial coordinate, a conjecture method to obtain the human-occupied vehicle coordinates is proposed. To reduce the error accumulation of autonomous underwater vehicle navigation, a method called one-step dead reckoning positioning is proposed, and the one-step dead reckoning positioning is treated as a correction to combine with ultra-short baseline positioning by a data fusion algorithm. One-step dead reckoning positioning is a positioning method based on the previous time-step coordinates of the autonomous underwater vehicle.