A novel navigation method for autonomous underwater vehicle in the middle water column∗

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

	A novel navigation method for autonomous underwater vehicle in the middle water column∗
	Feng H(冯浩)1,2,3; Yu JC(俞建成)1,2; Huang Y(黄琰)1,2,3; Qiao JN(乔佳楠)1,2; Wang ZY(王振宇)1,2; Liu K(刘凯)1,2,3
	2020
会议日期	October 5-30, 2020
会议地点	Biloxi, MS, United states
关键词	Autonomous underwater vehicle navigation ADCP DVL current estimation
页码	1-6
英文摘要	The navigation problem of autonomous underwater vehicles (AUVs) is one of the main reasons that restrict the development of all underwater platforms. In the middle water column where the distance from the seafloor exceeds the Doppler Velocity Logs (DVL) bottom lock range, the methods of navigations are mainly relying on acoustics and inertial measurement units (IMUs). This paper proposes a novel navigation method in the middle water column. In this method the sea water is stratified into several reference layers in the vertical depth direction and each reference layer is assumed to have the same current information in a short time. Based on this assumption, the current model can be greatly simplified. With reobservation of these reference layers with the ADCP (Acoustic Doppler Current Profile), the current velocity and vehicle velocity can be estimated by fusion of other low cost sensors such as attitude and depth sensors during the descent. The integration of vehicle velocity can be used for position estimation directly in case of emergency circumstances, and it can provide velocity aiding for the IMU or other methods to increase navigation accuracy. The method has been functional tested in a field experiment in the Thousand Island Lake. The results show that the navigation method is effective.
产权排序	1
会议录	2020 Global Oceans 2020: Singapore - U.S. Gulf Coast
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-5446-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/28752]
专题	海洋机器人卓越创新中心
通讯作者	Feng H(冯浩)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Feng H,Yu JC,Huang Y,et al. A novel navigation method for autonomous underwater vehicle in the middle water column∗[C]. 见:. Biloxi, MS, United states. October 5-30, 2020.