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Volume 26 Issue 4
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2018  >  26(4): 310-315
LI Jia-tong, ZHANG Chen, ZHANG Hong-xin. Underwater Localization Method of AUV Based on Single Beacon Bearing-Only Measurement[J]. Journal of Unmanned Undersea Systems, 2018, 26(4): 310-315. doi: 10.11993/j.issn.2096-3920.2018.04.006
Citation: LI Jia-tong, ZHANG Chen, ZHANG Hong-xin. Underwater Localization Method of AUV Based on Single Beacon Bearing-Only Measurement[J]. Journal of Unmanned Undersea Systems, 2018, 26(4): 310-315. doi: 10.11993/j.issn.2096-3920.2018.04.006
shu

Underwater Localization Method of AUV Based on Single Beacon Bearing-Only Measurement

doi: 10.11993/j.issn.2096-3920.2018.04.006

  • 91439th Unit, The People’s Liberation Army of China, Dalian 116041, China

  • Received Date: 2018-04-19
  • Rev Recd Date: 2018-06-25
  • Publish Date: 2018-08-31
    Abstract
  • Under the condition that the depth of a beacon is known, a real-time positioning method of an autonomous undersea vehicle(AUV) is presented based on single beacon bearing-only information measurement to solve the problem of single beacon AUV underwater localization. Different from the traditional method based on single beacon ranging information, the coordinate transformation principle is adopted to construct a 2-degree of freedom(2-DOF) attitude AUV motion model, and a state space model of bearing-only AUV localization problem is derived under the condition of knowing depth. Based on the established models, the extended Kalman filter(EKF) is used to solve the problem, and a filter parameter adjusting method is presented for the application of EKF algorithm. The validity of the proposed method is verified by a simulation experiment. Comparison between the proposed method and the existing method shows that the proposed method based on single beacon bearing observation model is better in filtering accuracy than that based on ranging information, and its convergence performance is superior to that of the latter.

     

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