Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
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DOI：
10.3390/jmse9020174
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发表时间：
2021-02-01
影响因子：
2.9
通讯作者：
Whitcomb, Louis L.
中科院分区：
文献类型：
--
作者：
Barker, Laughlin D. L.;Whitcomb, Louis L.
研究了水下机器人航行器相对于运动或静止海冰的冰导航问题。回顾了以往报道的冰下导航方法，以及使用冰下机器人车辆与精确导航能力的动机。然后，我们描述了我们提出的方法，它采用两个或更多的卫星导航信标顶上的海冰沿着与其他精密车辆和船舶安装导航传感器估计车辆，冰，船舶状态通过扩展卡尔曼滤波器。本文报道了一个模拟的7.7km冰下测量的性能灵敏度分析。冰部署卫星信标的数量和位置，旋转和平移的冰速度，和分离的船基声学范围传感器是不同的，并检查其对估计误差和不确定性的影响。结果表明，增加冰部署的卫星信标的数量和/或分离减少估计的不确定性，而增加船基声学距离传感器的分离对估计的不确定性影响不大。减小冰速也与减小估计不确定性相关。我们的分析表明，所提出的方法是可行的，可以提供科学有用的导航精度在一系列的操作条件。
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error and uncertainty are examined. Results suggest that increasing the number and/or separation of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship-based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also correlated with reduced estimate uncertainty. Our analysis suggests that the proposed method is feasible and can offer scientifically useful navigation accuracy over a range of operating conditions.