Navigation Method for Underwater Vehicles Based on Mutual Acoustical Positioning With a Single Seafloor Station
Navigation Method for Underwater Vehicles Based on Mutual Acoustical Positioning With a Single Seafloor Station
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DOI：
10.1109/joe.2012.2210799
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发表时间：
2013
影响因子：
4.1
通讯作者：
T. Maki;T. Matsuda;T. Sakamaki;T. Ura;J. Kojima
中科院分区：
文献类型：
--
作者：
T. Maki;T. Matsuda;T. Sakamaki;T. Ura;J. Kojima
本文提出了一种基于单个海底站（SS）的水下航行器导航方法，通过该方法，航行器可以估计其相对于SS的位置和方向，而无需昂贵的惯性导航系统或耗时的校准。该方法适用于需要实时和精确定位的近海底应用，如海底成像和采样。该方法也适用于自主水下航行器（AUV），因为除了SS之外不需要其他外部援助。其关键思想是利用车辆和SS之间的相互声学测量。简单解释一下：1）车辆通过声学地询问SS来启动，并测量两个单元之间的距离以及SS相对于车辆参考系中的车辆的方位;然后，2）SS计算车辆相对于SS的方位，并使用类似的声学设备将该信息发送回车辆。通过组合该信息并将其输入到包括车辆的地面速度和偏航角速度的测量的非线性滤波器结构中，车辆计算其位置和航向估计。研制了一对能够相互通信和计算相对位置的声学定位与通信装置。2011年10月，在日本鹿儿岛湾使用AUV Tri-Dog 1（TD）和试验SS进行了海上试验。根据安装在AUV和SS上的ALOC装置的测量，AUV成功地绕SS导航。通过仿真实验验证了该方法的有效性。
In this paper, we propose a novel navigation method for underwater vehicles based on a single seafloor station (SS), with which the vehicles can estimate their positions and orientations with respect to the SS without the need of expensive inertial navigation system or time-consuming calibration. This method is suitable for near-seafloor applications requiring real-time and accurate positioning, such as seafloor imaging and sampling. The method is also suitable for autonomous underwater vehicles (AUVs) since no other external aid is necessary other than SS. The key idea is to utilize mutual acoustical measurements between the vehicle and the SS. Simply explained: 1) the vehicle starts by interrogating the SS acoustically and measures the range between the two units as well as the bearing of the SS with respect to the vehicle in the vehicle reference frame; and then, 2) the SS computes the bearing of the vehicle with respect to the SS and transmits this information back to the vehicle using a similar acoustical device. By combining this information and inputting it into a nonlinear filter structure that includes measurements of the vehicle's ground velocity and yaw angular velocity, the vehicle computes its position and heading estimates. A pair of acoustical devices named acoustical localization and communication (ALOC) devices that can communicate and calculate their relative positions have been built. Sea trials were carried out in October 2011 using the AUV Tri-Dog1 (TD) and a trial SS at Kagoshima Bay in Japan. The AUV successfully navigated around the SS based on the measurements of the ALOC device mounted on both the AUV and the SS. The performance of the method was verified through simulations based on the experimental results.