Formation optimization for AUV localization with range-dependent measurements noise

Weisheng Yan; Xinpeng Fang; Junbing Li

doi:10.1109/LCOMM.2014.2344033

Formation optimization for AUV localization with range-dependent measurements noise

Weisheng Yan, Xinpeng Fang, Junbing Li

School of Marine Science and Technology

Research output: Contribution to journal › Article › peer-review

60 Scopus citations

Abstract

The optimal formation configuration for underwater localization of autonomous underwater vehicle (AUV) with a more general measurements model is investigated. The evaluation function is derived on the basis of Cramer-Rao lower bound (CRLB) or the corresponding Fisher information matrix (FIM). We determine the optimal formation configuration for the regular placement and the linear placement patterns, respectively. Subsequently, the influence of the measurements model on the optimal formation and the sensitivity of the localization performance to the factors, separation angle and range, are also presented. The simulation results demonstrate that the localization performance is more sensitive to the range rather than to the separation angle.

Original language	English
Article number	6868216
Pages (from-to)	1579-1582
Number of pages	4
Journal	IEEE Communications Letters
Volume	18
Issue number	9
DOIs	https://doi.org/10.1109/LCOMM.2014.2344033
State	Published - 1 Sep 2014

Keywords

Autonomous underwater vehicle (AUV)
evaluation function
linear placement
localization performance

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10.1109/LCOMM.2014.2344033

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title = "Formation optimization for AUV localization with range-dependent measurements noise",

abstract = "The optimal formation configuration for underwater localization of autonomous underwater vehicle (AUV) with a more general measurements model is investigated. The evaluation function is derived on the basis of Cramer-Rao lower bound (CRLB) or the corresponding Fisher information matrix (FIM). We determine the optimal formation configuration for the regular placement and the linear placement patterns, respectively. Subsequently, the influence of the measurements model on the optimal formation and the sensitivity of the localization performance to the factors, separation angle and range, are also presented. The simulation results demonstrate that the localization performance is more sensitive to the range rather than to the separation angle.",

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AB - The optimal formation configuration for underwater localization of autonomous underwater vehicle (AUV) with a more general measurements model is investigated. The evaluation function is derived on the basis of Cramer-Rao lower bound (CRLB) or the corresponding Fisher information matrix (FIM). We determine the optimal formation configuration for the regular placement and the linear placement patterns, respectively. Subsequently, the influence of the measurements model on the optimal formation and the sensitivity of the localization performance to the factors, separation angle and range, are also presented. The simulation results demonstrate that the localization performance is more sensitive to the range rather than to the separation angle.

KW - Autonomous underwater vehicle (AUV)

KW - evaluation function

KW - linear placement

KW - localization performance

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Formation optimization for AUV localization with range-dependent measurements noise

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Keywords

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