NDLI: Research on cooperative navigation for multiple UUVs

Content Provider	IEEE Xplore Digital Library
Author	Jian Lu Demin Xu Fubin Zhang Lichuan Zhang
Copyright Year	2012
Description	Author affiliation: School of Electronics and Information, Xi'an Polytechnic University, Xi'an Shaanxi, China (Jian Lu) \|\| College of Marine Engineering, Northwestern Poly technical University, Xi'an Shaanxi, China (Demin Xu; Fubin Zhang; Lichuan Zhang)
Abstract	When multiple unmanned underwater vehicles(UUV) are in close proximity, only a few of multiple UUVs are equipped with high precise proprioceptive localization sensors and others can but be equipped with low precise ones for the reason of cost. Though rough localization can be achieved by a dead-reckoning(DR) system, the latter can acquire measurement information by the means of two modes with the former for improving localization accuracy. Two modes are required that all UUVs must carry acoustic communication equipments. One is acoustic broadcast communication in which distance measurements are obtained based on acoustic propagation time of flight (TOF). Another is detection in which distance and orientation are gained through receiving detecting echoes. Two modes both need the UUVs who have higher localization accuracy broadcast their positions in virtue of acoustic broadcast communication. The cooperative navigation algorithm based on extended Kaiman filter (EKF) can combine effectively the measurements with the rough state estimates of the DR system to make the UUV who is equipped with low precise proprioceptive localization sensors get better position estimates. The simulation results show the effectiveness of the algorithm.
Starting Page	248
Ending Page	251
File Size	157111
Page Count	4
File Format	PDF
ISBN	9781467324656
e-ISBN	9781467324670
DOI	10.1109/MSNA.2012.6324560
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-08-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Acoustics Equations Extended Kalman filter Accuracy Simulation Dead-reckoning Acoustic measurements Unmanned underwater vehicle Sensors Mathematical model Localization Acoustic broadcast communication
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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