Preliminary results in under-ice acoustic navigation for seagliders in Davis Strait
Preliminary results in under-ice acoustic navigation for seagliders in Davis Strait
复制标题
戴维斯海峡海上滑翔机冰下声学导航的初步结果
DOI：
10.1109/oceans.2014.7003070
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Gobat
中科院分区：
文献类型：
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作者：
Sarah E. Webster;Craig M. Lee;J. Gobat
本文介绍了为 Seaglider（一种浮力驱动的自主水下航行器 (AUV)）开发的冰下声学导航系统，以及 2006 年至 2014 年间在戴维斯海峡部署的 14 艘滑翔机之一的后处理导航结果。海上滑翔机通常从在水面时接收的全球定位系统 (GPS) 信号接收所有地理位置信息，并在水下执行航位推算。在冰下扩展部署中，由于滑翔机无法浮出水面而无法访问 GPS，因此需要替代的地理定位信息源。在本文描述的部署中，地理位置信息是通过来自固定已知位置处的系泊安装声学导航源的距离测量来提供的。在本文中，我们描述了戴维斯海峡使用的导航系统，并展示了使用后处理导航数据的六自由度卡尔曼滤波器的导航结果。
This paper presents an under-ice acoustic navigation system developed for Seaglider, a buoyancy-driven autonomous underwater vehicle (AUV), and post-processed navigation results from one of fourteen glider deployments between 2006 and 2014 in Davis Strait. Seagliders typically receive all geolocation information from global positioning system (GPS) signals received while they are at the surface, and perform dead reckoning while underwater. Extended under-ice deployments, where access to GPS is denied due to the inability of the glider to surface, require an alternative source of geolocation information. In the deployments described herein, geolocation information is provided by range measurements from mooring-mounted acoustic navigation sources at fixed, known locations. In this paper we describe the navigation system used in Davis Strait and present navigation results from a six degree-of-freedom Kalman filter using post-processed navigation data.