Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Pa
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iple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 1. Mathematical Formulation D. A. Koshaeva, b, * aConcern
CSRI Elektropribor, JSC, St. Petersburg, 197046 Russia ITMO University, St. Petersburg, 197101 Russia *e-mail: [email protected]
b
Received April 29, 2020; revised June 23, 2020; accepted June 23, 2020
Abstract—The article considers a problem of autonomous underwater vehicle (AUV) positioning with acoustic measurements of range and possibly radial velocity relative to a single beacon, velocity components and coordinate increments from an inertial navigation system, and the data from a water-speed log or a ground log. Interruptions in acoustic measurements reception are acceptable. Availability of a priori information on relative position of AUV and the beacon is not assumed. In order to solve the problem, the author proposes a multiple model algorithm based on a bank of extended Kalman filters which independently estimate the initial horizontal range and errors of the used data under different hypotheses about a value of AUV initial azimuth relative to the beacon. Current coordinates of AUV are determined by the outputs of filters, taking into account the a posteriori probabilities of the corresponding hypotheses. The algorithm is rather simple for programming and does not require much computational power. Keywords: autonomous underwater vehicle, single-beacon navigation, multiple model algorithm DOI: 10.1134/S2075108720030037
INTRODUCTION The method of single-beacon navigation of an autonomous underwater vehicle (AUV), also known as the method of synthesized long baseline, was formulated more than 20 years ago [1]. Its advantage is that it requires minimum acoustic equipment and watercraft. Unlike the method of long baseline with a network of transmitters on bottom beacons or buoys, the method of short baseline with an transmitter on the AUV and a set of spaced receivers on the vessel, or the method of ultra-short baseline with an transmitter on a beacon and a group of spaced receivers on the AUV, this method uses only one transmitter on a beacon and one receiver on the AUV [2–4]. The disadvantage of the single-beacon method is that the acceptable level of positioning accuracy can be achieved only after some time has passed. The acoustic beacon can be an anchored or drifting buoy, or a surface vehicle, either self-propelled or a towed one. Depending on the type of acoustic equipment used, a beacon can be employed to form the measurements of range, radial velocity (Doppler observations), and, in some cases, the bearing to the beacon. Often, only the range measurements are used. This work discusses the use of range measurements which
can be optionally supplemented with the radial velocity measurements from a single acoustic sensor. Besides the measurement acoustic signals, the beacon is expected to transmit information packages containing the data from a GNSS-receiver installed on it. The AUV uses either a dead-reckoning system based on
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