Localization and Tracking for AUVs in Marine Information Networks: Research Directions, Recent Advances, and Challenges
Localization and Tracking for AUVs in Marine Information Networks: Research Directions, Recent Advances, and Challenges
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海洋信息网络中 AUV 的定位和跟踪：研究方向、最新进展和挑战
DOI：
10.1109/mnet.2019.1800406
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发表时间：
2019-03
期刊：
影响因子：
9.3
通讯作者：
Tao Jiang
中科院分区：
文献类型：
--
作者：
Zeshen Tang;Yuzhou Li;Kejue Cai;Yixin Zhang;Tao Jiang
在海洋信息网络中，定位信息对于AUV标记其收集的数据以及支持智能自动导航或及时远程控制至关重要。然而，极其恶劣的水下环境给设计AUV定位和跟踪算法带来了许多挑战，这些算法可以在能量、精度和实用性之间实现灵活的平衡。为了应对这些挑战，本文为AUV定位和跟踪提供了系统的研究路线图，从锚点部署到时间同步和距离估计，再到轨迹预测。具体来说，我们首先回顾了锚点部署方案的现有研究，在此基础上，我们提出了一种实现更高定位精度的空间圆形部署配置，并讨论了平衡能量精度权衡的锚点数量确定问题。然后，我们描述时间同步和范围估计的原理，并总结他们最先进的研究进展。最后，在介绍了一些广泛使用的轨迹跟踪方法之后，我们开发了一种基于卡尔曼滤波的轨迹预测算法，以妥协跟踪精度和信令开销。特别是，我们还提出并分析了每个方向的相关开放问题和挑战，以供未来的调查。
In marine information networks, localization information is crucial for AUVs to label their collected data as well as to support intelligent auto-navigation or timely remote control. However, the extremely hostile underwater environments impose a number of challenges on designing AUV localization and tracking algorithms that can strike flexible balances among energy, accuracy, and practicability. To deal with these challenges, this article provides a systematic research roadmap for AUVs' localization and tracking, spreading from anchor deployment to time synchronization and range estimation and to trajectory prediction. Specifically, we first review the existing research on anchor deployment schemes, based on which we propose a spatially circular deployment configuration that achieves higher localization accuracy and discuss the anchors' number determination problem for balancing the energy-accuracy tradeoff. We then describe the principles for time synchronization and range estimation and summarize their state-of-the-art research advances. Finally, after introducing some widespread trajectory tracking methods, we develop a Kalman filtering based trajectory prediction algorithm to compromise tracking accuracy and signaling overheads. In particular, we also present and analyze the related open issues and challenges in each direction for future investigations.
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DOI：
10.1145/1410107.1410115
发表时间：
2008-09
期刊：
Proceedings of the 3rd International Workshop on Underwater Networks
影响因子：
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作者：
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DOI：
10.1109/taes.1984.310439
发表时间：
1984-01-01
影响因子：
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作者：
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DOI：
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发表时间：
2010-09
期刊：
Proceedings of the 5th International Workshop on Underwater Networks
影响因子：
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DOI：
10.1109/cse.2014.110
发表时间：
2014-12
期刊：
2014 IEEE 17th International Conference on Computational Science and Engineering
影响因子：
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