AUV dead-reckoning navigation based on neural network using a single accelerometer

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋信息技术装备中心

	AUV dead-reckoning navigation based on neural network using a single accelerometer
	Xie, Yanxin; Liu J(刘军); Hu CQ(胡成全); Cui JH(崔军红); Xu HL(徐红丽)
	2016
会议名称	11th ACM International Conference on Underwater Networks and Systems, WUWNet 2016
会议日期	October 24-26, 2016
会议地点	Shanghai, China
关键词	Dead-reckoning Neural networks Accelerometer
页码	1-5
通讯作者	刘军
中文摘要	The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.
收录类别	EI
产权排序	1
会议主办者	ACM Special Interest Group on Mobility of Systems, Users, Data, and Computing (SIGMOBILE); Acoustical Society of China (ASC); Association for Computing Machinery (ACM)
会议录	WUWNet 2016 - 11th ACM International Conference on Underwater Networks and Systems
会议录出版者	ACM
会议录出版地	New York
语种	英语
ISBN号	978-1-4503-4637-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20082]
专题	沈阳自动化研究所_海洋信息技术装备中心
推荐引用方式 GB/T 7714	Xie, Yanxin,Liu J,Hu CQ,et al. AUV dead-reckoning navigation based on neural network using a single accelerometer[C]. 见:11th ACM International Conference on Underwater Networks and Systems, WUWNet 2016. Shanghai, China. October 24-26, 2016.