Title :
The AUV positioning using ranges from one transponder LBL
Author :
Scherbatyuk, Alexander Ph
Author_Institution :
Inst. for Marine Technol. Problems, Acad. of Sci., Vladivostok, Russia
Abstract :
An autonomous underwater vehicle (AUV) positioning method using the range data from one transponder of a long base line acoustic positioning system and the yaw and relative velocity information from an on board autonomous navigation system is described in the paper. The localization algorithm is based on the least squares root method. The algorithm allows one to calculate the AUV position and current velocity estimations. The simulation results of the method are supplemented
Keywords :
intelligent control; marine systems; parameter estimation; position control; radionavigation; transceivers; transponders; autonomous navigation system; autonomous underwater vehicle; localization algorithm; long base line acoustic positioning system; position estimation; relative velocity; transponder; velocity estimation; yaw; Acoustic transducers; Coordinate measuring machines; Current measurement; Equations; Frequency; Joining processes; Navigation; Position measurement; Q measurement; Transponders;
Conference_Titel :
OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.
Conference_Location :
San Diego, CA
Print_ISBN :
0-933957-14-9
DOI :
10.1109/OCEANS.1995.528728
