ASBL: low-cost, small-sized AUV remote guidance method and experimental verification
Abstract The low-cost, small-sized autonomous underwater vehicle (AUV) is the preferred carrier for seabed operations. As all know, the inertial navigation system (INS) error drifts over time. Three or more seafloor datum signals are required when error-correcting the INS using the long baseline (LB...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2023-03-01
|
| Series: | EURASIP Journal on Advances in Signal Processing |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s13634-023-00986-4 |
| _version_ | 1797863224313380864 |
|---|---|
| author | Yang Shi Xiao Han Lin Ma Lin Guo |
| author_facet | Yang Shi Xiao Han Lin Ma Lin Guo |
| author_sort | Yang Shi |
| collection | DOAJ |
| description | Abstract The low-cost, small-sized autonomous underwater vehicle (AUV) is the preferred carrier for seabed operations. As all know, the inertial navigation system (INS) error drifts over time. Three or more seafloor datum signals are required when error-correcting the INS using the long baseline (LBL). Typically, a seafloor datum has an acoustic ranging capability of 15 km. However, the positioning ability of the conventional LBL is limited and cannot play the role of remote guidance when there is only a single datum. The paper proposes the Acoustic Synthetic Baseline (ASBL) positioning technology, which can achieve target positioning through multi-frame acoustic distance estimates between the measured target and the underwater datum. Firstly, the positioning principle of the ASBL is introduced, and the error distribution is analyzed in the paper. Secondly, a small-sized AUV is used to carry out the verification on the lake test, and the result shows that the ASBL positioning technology can play a guiding role. According to the statistics of the positioning results, the detection probability of less than 5% positioning error can reach more than 83%. The ASBL technology can reduce the dependence on the number of seafloor datums that convenience and operation efficiency can improve only by a single datum. |
| first_indexed | 2024-04-09T22:33:17Z |
| format | Article |
| id | doaj.art-cc641a445a33450f8d5cdcfbf32b3196 |
| institution | Directory Open Access Journal |
| issn | 1687-6180 |
| language | English |
| last_indexed | 2024-04-09T22:33:17Z |
| publishDate | 2023-03-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | EURASIP Journal on Advances in Signal Processing |
| spelling | doaj.art-cc641a445a33450f8d5cdcfbf32b31962023-03-22T12:40:35ZengSpringerOpenEURASIP Journal on Advances in Signal Processing1687-61802023-03-012023111210.1186/s13634-023-00986-4ASBL: low-cost, small-sized AUV remote guidance method and experimental verificationYang Shi0Xiao Han1Lin Ma2Lin Guo3Acoustic Science and Technology Laboratory, Harbin Engineering UniversityAcoustic Science and Technology Laboratory, Harbin Engineering UniversityShanghai Acoustics Laboratory, Chinese Academy of SciencesAcoustic Science and Technology Laboratory, Harbin Engineering UniversityAbstract The low-cost, small-sized autonomous underwater vehicle (AUV) is the preferred carrier for seabed operations. As all know, the inertial navigation system (INS) error drifts over time. Three or more seafloor datum signals are required when error-correcting the INS using the long baseline (LBL). Typically, a seafloor datum has an acoustic ranging capability of 15 km. However, the positioning ability of the conventional LBL is limited and cannot play the role of remote guidance when there is only a single datum. The paper proposes the Acoustic Synthetic Baseline (ASBL) positioning technology, which can achieve target positioning through multi-frame acoustic distance estimates between the measured target and the underwater datum. Firstly, the positioning principle of the ASBL is introduced, and the error distribution is analyzed in the paper. Secondly, a small-sized AUV is used to carry out the verification on the lake test, and the result shows that the ASBL positioning technology can play a guiding role. According to the statistics of the positioning results, the detection probability of less than 5% positioning error can reach more than 83%. The ASBL technology can reduce the dependence on the number of seafloor datums that convenience and operation efficiency can improve only by a single datum.https://doi.org/10.1186/s13634-023-00986-4ASBL positioningAUV remote guidanceINS error correction |
| spellingShingle | Yang Shi Xiao Han Lin Ma Lin Guo ASBL: low-cost, small-sized AUV remote guidance method and experimental verification EURASIP Journal on Advances in Signal Processing ASBL positioning AUV remote guidance INS error correction |
| title | ASBL: low-cost, small-sized AUV remote guidance method and experimental verification |
| title_full | ASBL: low-cost, small-sized AUV remote guidance method and experimental verification |
| title_fullStr | ASBL: low-cost, small-sized AUV remote guidance method and experimental verification |
| title_full_unstemmed | ASBL: low-cost, small-sized AUV remote guidance method and experimental verification |
| title_short | ASBL: low-cost, small-sized AUV remote guidance method and experimental verification |
| title_sort | asbl low cost small sized auv remote guidance method and experimental verification |
| topic | ASBL positioning AUV remote guidance INS error correction |
| url | https://doi.org/10.1186/s13634-023-00986-4 |
| work_keys_str_mv | AT yangshi asbllowcostsmallsizedauvremoteguidancemethodandexperimentalverification AT xiaohan asbllowcostsmallsizedauvremoteguidancemethodandexperimentalverification AT linma asbllowcostsmallsizedauvremoteguidancemethodandexperimentalverification AT linguo asbllowcostsmallsizedauvremoteguidancemethodandexperimentalverification |