Title :
Study of Underwater Positioning Based on Short Baseline Sonar System
Author :
Yuyi, Zhai ; Zhenbang, Gong ; Lei, Wang ; Ruiyong, Zhang ; Huanxin, Luo
Author_Institution :
Sub-mini Robot Syst. Design & Control, Shanghai Univ., Shanghai, China
Abstract :
The paper is aiming at improving the positioning ability of underwater robots. Underwater positioning can help underwater robots gain better control performance. Having studied the positioning principles of short baseline positioning systems, this paper analyzed the model of traditional short baseline (SBL) system and studied ingredients that affect measuring accuracy of short baseline system. Then, a modified method to enhance the precision of short baseline system was educed. Finally, the validity of the modified short baseline positioning system was verified through experiments, which provides as a practical method to sub-mini underwater robot for positioning.
Keywords :
marine systems; mobile robots; position control; sonar; baseline positioning systems; short baseline sonar system; short baseline system; underwater positioning; underwater robots; Acoustic measurements; Acoustic propagation; Acoustic transducers; Ocean temperature; Position measurement; Robots; Sea measurements; Sonar equipment; Sonar measurements; Underwater acoustics; precisely positioning; short baseline sonar; underwater robot;
Conference_Titel :
Artificial Intelligence and Computational Intelligence, 2009. AICI '09. International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3835-8
Electronic_ISBN :
978-0-7695-3816-7
DOI :
10.1109/AICI.2009.83
