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Volume 18 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2010  >  18(2): 123-127
ZHANG Jia-quan, LIU Ming-yong, LI Wen-bai. A Navigation Method for AUV Based on a Single Moving GPS Intelligent Sonobuoy[J]. Journal of Unmanned Undersea Systems, 2010, 18(2): 123-127. doi: 10.11993/j.issn.1673-1948.2010.02.010
Citation: ZHANG Jia-quan, LIU Ming-yong, LI Wen-bai. A Navigation Method for AUV Based on a Single Moving GPS Intelligent Sonobuoy[J]. Journal of Unmanned Undersea Systems, 2010, 18(2): 123-127. doi: 10.11993/j.issn.1673-1948.2010.02.010
shu

A Navigation Method for AUV Based on a Single Moving GPS Intelligent Sonobuoy

doi: 10.11993/j.issn.1673-1948.2010.02.010

  • College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072, China

  • Received Date: 2009-05-16
  • Rev Recd Date: 2009-08-15
  • Publish Date: 2010-04-30
    Abstract
  • Aiming at the limitation of the traditional autonomous underwater vehicle(AUV) navigation with auxiliary global positioning system(GPS), a method for AUV navigation using a single moving GPS intelligent sonobuoy (GIS) is presented. A novel AUV navigation antenna is designed based on the principle of ultra-short baseline (USBL),therefore the angles and ranges between the GIS and hydrophones of AUV navigation antenna can be measured. Then, via using vector relation and coordinates of the GIS, the measurement equation is obtained. By applying Kalman filter (KF),the coordinates of the hydrophones can be estimated, and then the location of AUV is derived. Simulation results demonstrate that this approach can overcome the shortcomings of the traditional methods, and has good flexibility and stealth, which may provide some theoretical foundations for the accurate long-range localization, path planning and collaborative navigation of AUVs.

     

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