Design and experimental results of passive iUSBL for small AUV navigation

被引：19

作者：

Wang, Yingqiang ^{[1
]}

Huang, S. H. ^{[1
]}

Wang, Zhikun ^{[1
]}

Hu, Ruoyu ^{[1
]}

Feng, Mingyue ^{[1
]}

Du, Peizhou ^{[1
]}

Yang, Wencheng ^{[1
]}

Chen, Ying ^{[1
]}

机构：

[1] Zhejiang Univ, Ocean Coll, Zhoushan 316021, Peoples R China

来源：

OCEAN ENGINEERING | 2022年 / 248卷

基金：

国家重点研发计划;

关键词：

Passive inverted Ultra-Short Baseline (piUSBL); One-way travel-time; Deconvolved conventional beamforming; Underwater positioning; TIME ACOUSTIC NAVIGATION; BASE-LINE; UNDERWATER; LOCALIZATION;

D O I：

10.1016/j.oceaneng.2022.110812

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper presents a passive inverted Ultra-Short Baseline (piUSBL) positioning system which provides accurate and instantaneous positioning for small Autonomous Underwater Vehicles (AUVs) at low cost and power consumption. Conventional underwater positioning systems tend to be expensive and bulky, limiting the application of small AUVs. This system is based on an iUSBL positioning system, which places a small circular receiver array on an AUV rather than on a deployment ship. The One-Way Travel-Time (OWTT) range and Direction of Arrival (DOA) between the vehicle and a single acoustic beacon enable AUV navigation relative to the beacon. Deconvolved conventional beamforming (dCv) provides high-resolution azimuth estimation. This paper describes the system design in detail and presents experimental results in an anechoic tank and some field lakes. The piUSBL system shows great potential for small AUVs after several successful AUV applications.

引用

页数：14

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