Cooperative navigation method of multiple autonomous underwater vehicles for wide seafloor survey — Sea experiment with two AUVs
Cooperative navigation method of multiple autonomous underwater vehicles for wide seafloor survey — Sea experiment with two AUVs
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宽海底调查多自主水下航行器协同导航方法——两台AUV海上实验
DOI：
10.1109/oceans-taipei.2014.6964386
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
T. Sakamaki
中科院分区：
文献类型：
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作者：
T. Matsuda;T. Maki;Yoshiki Sato;T. Sakamaki
在本文中，我们报告使用两个AUV的合作导航方法在以前的报告中提出的实施海上实验。该方法将车辆分为两组：移动车辆和地标车辆。一个移动的AUV估计的状态（水平位置和航向角），从它的地面速度，水平角速度，和声学定位相对于一个地标AUV保持静止在海底。每个AUV可以通过交替地标角色在大范围内导航，漂移较小。该方法在两个实际的AUV（AUV Tri-Dog 1和AUV Tri-TON）上实现。2013年11月，在日本骏河湾的海上试验中对这两种AUV进行了评估。AUV成功地进行了合作导航，或者成为地标。通过海上实验和基于实验结果的后处理仿真验证了该方法的性能。
In this paper, we report sea experiments using two AUVs on which the cooperative navigation method proposed in the previous report was implemented. The method divides vehicles into two groups: moving and landmark vehicles. A moving AUV estimates the states (horizontal positions and heading angle) from its ground velocity, horizontal angular velocity, and acoustical positioning relative to a landmark AUV remaining stationary on the seafloor. Each AUV can navigate over a wide area with small drift by alternating the landmark role. The proposed method is implemented on two actual AUVs (AUV Tri-Dog 1 and AUV Tri-TON). Both AUVs were evaluated in sea trials at Suruga Bay, Japan, in November 2013. The AUVs succeeded in a cooperative navigation, alternatively becoming the landmark. The performance of the method was verified through the sea experiments and post-processing simulation using the experimental results.
使用剖面声纳和被动声学地标进行海底近距离观察的 AUV 定位方法
DOI：
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发表时间：
2007
期刊：
影响因子：
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作者：
Matsuda;Kuninori;松田 訓典;松田 訓典;松田 訓典;J.Han;巻 俊宏;T.Maki;H.Mizushima;T.Maki
通讯作者：
T.Maki