Deep sea AUV navigation using multiple acoustic beacons
文献类型：期刊论文
| 作者 | Ji DX(冀大雄); Song W(宋伟); Zhao HY(赵宏宇) ; Liu J(刘健)
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| 刊名 | China Ocean Engineering
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| 出版日期 | 2016 |
| 卷号 | 30期号:2页码:309-318 |
| 关键词 | deep sea AUV acoustic navigation range measurements multiple beacons outlier recognition |
| ISSN号 | 0890-5487 |
| 产权排序 | 1 |
| 通讯作者 | 宋伟 |
| 中文摘要 | Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical ; Water Resources |
| 研究领域[WOS] | Engineering ; Water Resources |
| 关键词[WOS] | AUTONOMOUS UNDERWATER VEHICLES ; BASE-LINE SYSTEM ; LOCALIZATION |
| 收录类别 | SCI ; EI ; CSCD |
| 语种 | 英语 |
| WOS记录号 | WOS:000373391100012 |
| 源URL | [http://ir.sia.cn/handle/173321/18500]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Ji DX,Song W,Zhao HY,et al. Deep sea AUV navigation using multiple acoustic beacons[J]. China Ocean Engineering,2016,30(2):309-318. |
| APA | Ji DX,Song W,Zhao HY,&Liu J.(2016).Deep sea AUV navigation using multiple acoustic beacons.China Ocean Engineering,30(2),309-318. |
| MLA | Ji DX,et al."Deep sea AUV navigation using multiple acoustic beacons".China Ocean Engineering 30.2(2016):309-318. |
入库方式： OAI收割
来源：沈阳自动化研究所
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