Preliminary Evaluation of Cooperative Navigation of Underwater Vehicles without a DVL Utilizing a Dynamic Process Model
Preliminary Evaluation of Cooperative Navigation of Underwater Vehicles without a DVL Utilizing a Dynamic Process Model
复制标题
利用动态过程模型对无 DVL 的水下航行器协同导航的初步评估
DOI：
10.1109/icra.2018.8460970
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
L. Whitcomb
中科院分区：
文献类型：
--
作者：
Zachary J. Harris;L. Whitcomb
本文报道了一个完全动态的车辆过程模型中使用的水下通信和导航（合作导航）的水下车辆配备了一个声学调制解调器，姿态和深度传感器，但缺乏多普勒测速仪（DVL），并配备了一个声学调制解调器和GPS的水面车辆的初步研究。我们报告了JHU Iver3自主水下航行器（AUV）的模拟和海上实验试验。水下航行器导航无DVL的情况在几种使用情况下是令人感兴趣的，包括（a）小型和低成本水下航行器，由于其尺寸和成本，DVL可能不切实际或不可行，以及（B）用于其中航行器在海底上方的高度（或在头顶冰下的深度）超过DVL声学底部锁定范围的任务。据我们所知，所有以前的研究合作导航报告使用的运动过程模型，它的工作以及在存在频繁的，高精度的速度测量，是车辆配备DVL的情况下。这个初步的研究表明，动力学过程模型可能会提供一个显着的优势，在没有频繁的，高精度的速度测量的情况下，纯粹的运动学模型，是当水下航行器没有配备DVL的情况。
This paper reports a preliminary study for use of a fully dynamic vehicle process model in combined underwater communication and navigation (cooperative navigation) of underwater vehicles equipped with an acoustic modem, attitude, and depth sensors, but lacking a Doppler velocity log (DVL), and a surface vehicle equipped with an acoustic modem and GPS. We report both simulation and at-sea experimental trials with the JHU Iver3 autonomous underwater vehicle (AUV). The case of underwater vehicle navigation without a DVL is of interest in several use-cases including (a) small and low-cost underwater vehicles for which DVLs may be impractical or infeasible due to their size and cost and (b) for missions in which the vehicle's altitude above the sea floor (or depth beneath overhead ice) exceeds the DVL acoustic bottom-lock range. To the best of our knowledge, all previous studies on cooperative navigation have reported use of a kinematic process model, which works well in the presence of frequent, high-accuracy velocity measurements, as is the case when the vehicle is equipped with a DVL. This preliminary study suggests that the dynamical process model may offer a significant advantage over the purely kinematic model in the absence of frequent, high-accuracy velocity measurements, as is the case when the submerged vehicle is not equipped with a DVL.