Underwater acoustic positioning based on the robust zero-difference Kalman filter
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ORIGINAL ARTICLE
Underwater acoustic positioning based on the robust zero‑difference Kalman filter Junting Wang1 · Tianhe Xu1 · Bingsheng Zhang2 · Wenfeng Nie1 Received: 9 March 2020 / Accepted: 5 September 2020 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2020
Abstract The accuracy of underwater acoustic positioning is greatly influenced by both systematic error and gross error. Aiming at these problems, the paper proposes a robust zero-difference Kalman filter based on the random walk model and the equivalent gain matrix. The proposed algorithm takes systematic error as a random walk process, and estimates it together with the position parameters by using zero-difference Kalman filter. In addition, the equivalent gain matrix based on the robust estimation of Huber function is constructed to resist the influence of gross error. The proposed algorithm is verified by the simulation experiment and a real one for underwater acoustic positioning. The results demonstrate that the robust zerodifference Kalman filter can control both the effects of systematic error and gross error without amplifying the influence of the observation random noise, which is obviously superior to the zero-difference least squares (LS), the single-difference LS and zero-difference Kalman filter in underwater acoustic positioning. Keywords Systematic error · Gross error · Kalman filter · Zero-difference positioning · Robust estimation
1 Introduction With the development of the national marine strategy and the marine resource exploration, accurate ocean navigation and positioning technology are needed to obtain the highprecision, large-scale marine environmental information [1–3]. Sound waves, rather than electromagnetic waves or light waves, are mainly used to estimate the position of the underwater target. The reason is that sound waves can spread hundreds of kilometers in the water while electromagnetic waves and light waves decay quickly [4]. The classical acoustic-based approaches for underwater target positioning include long baseline (LBL), short baseline (SBL), ultrashort baseline (USBL) and underwater global positioning system (GPS) according to the acoustic baseline range [5, 6]. The shipborne acoustic positioning generally adopts the voyage positioning mode, which is affected by the geometric
* Tianhe Xu [email protected] 1
Institute of Space Science, Shandong University, Weihai, China
College of Geology Engineering and Geomantic, Chang’an University, Xi’an, Shanxi, China
2
structure of trajectory and the measurement error related to the time delay as well as the sound speed [7, 8]. For underwater acoustic positioning, there inevitably exist the gross error, the random error and the systematic error caused by the marine environment and the observation instrument. Many studies have been dedicated to improve the underwater positioning model and the error correction method. Xu et al. [9] first proposed the underwater difference positioning algorithm including the single difference algorithm between
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