Analytical optimization on GNSS buoy array for underwater positioning

Qi, Ke; Guo-qing, QU; Xue, Shuqiang; Xu, Tianhe; Su, Xinming; Liu, Yixu; Wan, Jun

doi:10.1007/s13131-019-1465-1

Cited by 9 publications

(4 citation statements)

References 23 publications

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“…As shown in Figure 1, the mathematical equations of LBL are based on the spherical case. According to this, we have the following equation [30,31]:…”

Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Liu,

Sun,

et al. 2024

Remote Sensing

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The operation of underwater vehicles in deep waters is a very challenging task. The use of AUVs (Autonomous Underwater Vehicles) is the preferred option for underwater exploration activities. They can be autonomously navigated and controlled in real time underwater, which is only possible with precise spatio-temporal information. Navigation and positioning systems based on LBL (Long-Baseline) or USBL (Ultra-Short-Baseline) systems have their own characteristics, so the choice of system is based on the specific application scenario. However, comparative experiments on AUV navigation and positioning under both systems are rarely conducted, especially in the deep sea. This study describes navigation and positioning experiments on AUVs in deep-sea scenarios and compares the accuracy of the USBL and LBL/SINS (Strap-Down Inertial Navigation System)/DVL (Doppler Velocity Log) modes. In practice, the accuracy of the USBL positioning mode is higher when the AUV is within a 60° observation range below the ship; when the AUV is far away from the ship, the positioning accuracy decreases with increasing range and observation angle, i.e., the positioning error reaches 80 m at 4000 m depth. The navigational accuracy inside and outside the datum array is high when using the LBL/SINS/DVL mode; if the AUV is far from the datum array when climbing to the surface, the LBL cannot provide accurate position calibration while the DVL fails, resulting in large deviations in the SINS results. In summary, the use of multi-sensor combination navigation schemes is beneficial, and accurate position information acquisition should be based on the demand and cost, while other factors should also be comprehensively considered; this paper proposes the use of the LBL/SINS/DVL system scheme.

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“…As shown in Figure 1, the mathematical equations of LBL are based on the spherical case. According to this, we have the following equation [30,31]:…”

Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Liu,

Sun,

et al. 2024

Remote Sensing

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“…As a position reference rather than a positioning method, pseudolites can be used as buoys for underwater localization [48]. Moreover, pseudolites can be used for the mutual correction of positions between buoys on the water to determine a dynamic surface positioning reference [49].…”

Section: For Underwater Positioningmentioning

confidence: 99%

Pseudolites to Support Location Services in Smart Cities: Review and Prospects

Liu,

Wang

et al. 2023

Smart Cities

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The location service is an important part of the smart city. A unified location service for outdoor and indoor/overground and underground activity will assist the construction of smart cities. However, with different coordinate systems and data formats, it is difficult to unify various positioning technologies on the same basis. Global navigation satellite system (GNSS)-based positioning is the only way to provide absolute location under the Earth-centered, Earth-fixed coordinate system (ECEF). Increasing indoor and underground human activity places significant demand on location-based services but no GNSS signals are available there. Fortunately, a type of satellite that is indoors, known as pseudolite, can transmit GNSS-like ranging signals. Users can obtain their position by receiving ranging signals and their resection without adding or switching other sensors when they go from outdoors to indoors. To complete the outreach of the GNSS indoors and underground to support the smart city, how to adapt the pseudolite design and unify coordinate frames for linking to the GNSS remain to be determined. In this regard, we provide an overview of the history of the research and application of pseudolites, the research progress from both the system side and the user side, and the plans for pseudolite-based location services in smart cities.

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“…In addition, due to the limited sailing distance of the ship, it can be approximately considered that the SSP used for positioning in a short time is the same. At this time, the influence of the incident angle error can be approximately ignored, and the distance between the shipborne transceiver and the seabed array element is regarded as a straight line, that is, the average sound speed can be used to achieve high-precision positioning (Qi et al, 2019).…”

Section: A New Average Sound Speed Model For Underwater Positioningmentioning

confidence: 99%

A new underwater positioning model based on average sound speed

Liu

Xue

et al. 2021

J. Navigation

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The layout of seafloor datum points is the key to constructing the seafloor geodetic datum network, and a reliable underwater positioning model is the prerequisite for achieving precise deployment of the datum points. The traditional average sound speed positioning model is generally adopted in underwater positioning due to its simple and efficient algorithm, but it is sensitive to incident angle related errors, which lead to unreliable positioning results. Based on the relationship between incident angle and sound speed, the sound speed function model considering the incident angle has been established. Results show that the accuracy of positioning is easily affected by errors related to the incident angle; the new average sound speed correction model based on the incident angle proposed in this paper is used to significantly improve the underwater positioning accuracy.

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Analytical optimization on GNSS buoy array for underwater positioning

Cited by 9 publications

References 23 publications

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor Integrated Navigation and Positioning

Pseudolites to Support Location Services in Smart Cities: Review and Prospects

A new underwater positioning model based on average sound speed

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