A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater
During underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, res...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-03-01
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| Series: | Frontiers in Marine Science |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fmars.2024.1368317/full |
| _version_ | 1797249277625368576 |
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| author | Kun Ye Zhicheng Tan Zhicheng Tan Wei Wang Tian Tian Lang Zhou Yongjun Wang |
| author_facet | Kun Ye Zhicheng Tan Zhicheng Tan Wei Wang Tian Tian Lang Zhou Yongjun Wang |
| author_sort | Kun Ye |
| collection | DOAJ |
| description | During underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, resulting in trajectory drift of the divers during prolonged self-guidance. To overcome the above problem, other aids are needed to correct the accumulated error of the INS. The single-beacon Assisted Inertial Navigation (AIN) method can improve the flexibility of inertial error correction while simplifying the localization equipment, which is suitable for the INS cumulative error correction scenario of divers. However, most of the traditional single-beacon assisted correction methods do not consider the effect of acoustic line bending on hydroacoustic ranging, and at the same time, they do not consider the problem of singular or pathological coefficient matrices introduced by inertial navigation neighbor localization deviations. Based on the above two shortcomings, this paper uses the acoustic velocity profile for acoustic line tracking, combines the localization idea of Mobile Primitives (MP), and proposes an MP-based acoustic line tracking-Assisted Inertial Navigation Localization (AINL) method, which constructs a sliding time window (STW) by taking the historical positioning of divers as a virtual primitive, and combines the nonlinear optimization method for iterative optimization search as a means to improve the accuracy and stability of self-navigation of the divers. |
| first_indexed | 2024-04-24T20:27:56Z |
| format | Article |
| id | doaj.art-5f5816a87b5648aabf0659a672a72d74 |
| institution | Directory Open Access Journal |
| issn | 2296-7745 |
| language | English |
| last_indexed | 2024-04-24T20:27:56Z |
| publishDate | 2024-03-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Marine Science |
| spelling | doaj.art-5f5816a87b5648aabf0659a672a72d742024-03-22T04:31:01ZengFrontiers Media S.A.Frontiers in Marine Science2296-77452024-03-011110.3389/fmars.2024.13683171368317A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwaterKun Ye0Zhicheng Tan1Zhicheng Tan2Wei Wang3Tian Tian4Lang Zhou5Yongjun Wang6School of Informatics, Xiamen University, Xiamen, ChinaSchool of Informatics, Xiamen University, Xiamen, ChinaSchool of Aeronautics and Astronautics, Guilin University of Aerospace Technology, Guilin, ChinaSchool of Informatics, Xiamen University, Xiamen, ChinaSchool of Informatics, Xiamen University, Xiamen, ChinaSchool of Electronic Science and Engineering (National Model Microelectronics College), Xiamen University, Xiamen, ChinaSchool of Aeronautics and Astronautics, Guilin University of Aerospace Technology, Guilin, ChinaDuring underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, resulting in trajectory drift of the divers during prolonged self-guidance. To overcome the above problem, other aids are needed to correct the accumulated error of the INS. The single-beacon Assisted Inertial Navigation (AIN) method can improve the flexibility of inertial error correction while simplifying the localization equipment, which is suitable for the INS cumulative error correction scenario of divers. However, most of the traditional single-beacon assisted correction methods do not consider the effect of acoustic line bending on hydroacoustic ranging, and at the same time, they do not consider the problem of singular or pathological coefficient matrices introduced by inertial navigation neighbor localization deviations. Based on the above two shortcomings, this paper uses the acoustic velocity profile for acoustic line tracking, combines the localization idea of Mobile Primitives (MP), and proposes an MP-based acoustic line tracking-Assisted Inertial Navigation Localization (AINL) method, which constructs a sliding time window (STW) by taking the historical positioning of divers as a virtual primitive, and combines the nonlinear optimization method for iterative optimization search as a means to improve the accuracy and stability of self-navigation of the divers.https://www.frontiersin.org/articles/10.3389/fmars.2024.1368317/fullunderwater active localizationassisted inertial navigation localizationsound source localizationsound velocity profilingmobile primitives |
| spellingShingle | Kun Ye Zhicheng Tan Zhicheng Tan Wei Wang Tian Tian Lang Zhou Yongjun Wang A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater Frontiers in Marine Science underwater active localization assisted inertial navigation localization sound source localization sound velocity profiling mobile primitives |
| title | A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater |
| title_full | A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater |
| title_fullStr | A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater |
| title_full_unstemmed | A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater |
| title_short | A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater |
| title_sort | mobile prototype based localization approach using inertial navigation and acoustic tracking for underwater |
| topic | underwater active localization assisted inertial navigation localization sound source localization sound velocity profiling mobile primitives |
| url | https://www.frontiersin.org/articles/10.3389/fmars.2024.1368317/full |
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