Title :
Research on acoustic positioning system in the process of AUV recovery
Author :
Ma, Shiguo ; Liu, Guangliang ; Yang, Dong ; Wang, Yali
Author_Institution :
Shandong Provincial Key Lab. of Robot & Manuf. Autom. Technol., Inst. of Autom., Jinan, China
Abstract :
As the speed of sound is interfered easily in the complex environment, the positioning information given by SBL sonar usually has noises. To solve this problem, this paper gives a positioning method based on Kalman filtering, which lays a good foundation for the application of AUV in the complex ocean environment in future, and has a good value on the practical application of engineering. In details, it disposes sensor data to get exact positioning information, and the validity is fully proved by tank experiment of AUV. The experiment results indicate that the positioning precision of SBL sonar is enhanced from 3.99% to 1.41%, at the same time, the designed demand of AUV is satisfied.
Keywords :
Kalman filters; acoustic transducers; autonomous underwater vehicles; oceanography; position control; sonar; AUV application; AUV recovery process; Kalman filtering-based positioning method; SBL sonar positioning precision; acoustic positioning system; complex environment; complex ocean environment; positioning information; sensor data; sound speed; Accuracy; Equations; Filtering algorithms; Sonar equipment; Strontium; Vehicles;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-1962-1
