Formation geometry of underwater positioning based on multiple USV/AUV

Xin Peng Fang; Wei Sheng Yan; Fu Bin Zhang; Jun Bing Li

doi:10.3969/j.issn.1001-506X.2014.05.22

Formation geometry of underwater positioning based on multiple USV/AUV

Xin Peng Fang, Wei Sheng Yan, Fu Bin Zhang, Jun Bing Li

School of Marine Science and Technology

Northwestern Polytechnical University Xian

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

14 Scopus citations

Abstract

Aiming at the shortcomings of existing underwater high precision positioning technologies for the autonomous underwater vehicle (AUV), an underwater positioning system based on the unmanned surface vehicle (USV) is designed using the intelligent buoys technology and the moving long baseline technology of the global positioning system. An evaluation function is established on the knowledge of the Cramer-Rao lower bound and the Fisher information matrix. The influence of the relative formation geometries of the USV/USV and USV/AUV on the positioning performance is analyzed by maximization of the evaluation function in three-dimension. Subsequently, the sensitivity of the positioning performance to small distance deviations and small angle deviations from the optimal geometry is investigated. Finally, simulation results show the effectiveness of the function and the system.

Original language	English
Pages (from-to)	947-951
Number of pages	5
Journal	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume	36
Issue number	5
DOIs	https://doi.org/10.3969/j.issn.1001-506X.2014.05.22
State	Published - May 2014

Keywords

Evaluation function
Optimal formation geometry
Sensitivity analysis
Underwater positioning

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10.3969/j.issn.1001-506X.2014.05.22

Cite this

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title = "Formation geometry of underwater positioning based on multiple USV/AUV",

abstract = "Aiming at the shortcomings of existing underwater high precision positioning technologies for the autonomous underwater vehicle (AUV), an underwater positioning system based on the unmanned surface vehicle (USV) is designed using the intelligent buoys technology and the moving long baseline technology of the global positioning system. An evaluation function is established on the knowledge of the Cramer-Rao lower bound and the Fisher information matrix. The influence of the relative formation geometries of the USV/USV and USV/AUV on the positioning performance is analyzed by maximization of the evaluation function in three-dimension. Subsequently, the sensitivity of the positioning performance to small distance deviations and small angle deviations from the optimal geometry is investigated. Finally, simulation results show the effectiveness of the function and the system.",

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AU - Fang, Xin Peng

AU - Yan, Wei Sheng

AU - Zhang, Fu Bin

AU - Li, Jun Bing

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N2 - Aiming at the shortcomings of existing underwater high precision positioning technologies for the autonomous underwater vehicle (AUV), an underwater positioning system based on the unmanned surface vehicle (USV) is designed using the intelligent buoys technology and the moving long baseline technology of the global positioning system. An evaluation function is established on the knowledge of the Cramer-Rao lower bound and the Fisher information matrix. The influence of the relative formation geometries of the USV/USV and USV/AUV on the positioning performance is analyzed by maximization of the evaluation function in three-dimension. Subsequently, the sensitivity of the positioning performance to small distance deviations and small angle deviations from the optimal geometry is investigated. Finally, simulation results show the effectiveness of the function and the system.

AB - Aiming at the shortcomings of existing underwater high precision positioning technologies for the autonomous underwater vehicle (AUV), an underwater positioning system based on the unmanned surface vehicle (USV) is designed using the intelligent buoys technology and the moving long baseline technology of the global positioning system. An evaluation function is established on the knowledge of the Cramer-Rao lower bound and the Fisher information matrix. The influence of the relative formation geometries of the USV/USV and USV/AUV on the positioning performance is analyzed by maximization of the evaluation function in three-dimension. Subsequently, the sensitivity of the positioning performance to small distance deviations and small angle deviations from the optimal geometry is investigated. Finally, simulation results show the effectiveness of the function and the system.

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KW - Optimal formation geometry

KW - Sensitivity analysis

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Formation geometry of underwater positioning based on multiple USV/AUV

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Keywords

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