Development of GPS-aided localization algorithm of Autonomous Underwater Vehicle

Hyeon-seok, Kang; Hong, Sungmin; Sur, Joono; Choi, Hyeung-Sik; Kim, Joon‐Young

doi:10.1109/ut.2017.7890305

Cited by 3 publications

(1 citation statement)

References 3 publications

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“…ocean and river). 6 –9 Among these approaches, dead reckoning localization has been widely adopted by utilizing the sensors independently of external information, such as inertial navigation systems (INS). Hegrenæs and Hallingstad 10 developed a model-aid INS for UVs.…”

Section: Introductionmentioning

confidence: 99%

A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters

Tao

Sun

Zhou

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a novel localization approach incorporating attitude and heading reference system and underwater altimeters is presented to accurately localize the underwater welding vehicles in spent fuel pools of the nuclear power stations. Different from the conventional underwater localization technologies, the presented localization approach is a more suitable approach in cases of confined structured water areas. Firstly, a multi-regions division localization algorithm is proposed for calculating the coordinate of the underwater welding vehicle through data from sensors. Also, considering the attitude errors of the underwater welding vehicle, the beam angle of the altimeters, and the boundary effects of cross-regions, an optimized multi-regions division localization algorithm is introduced for general applicability of the multi-regions division localization. Then, computer simulations are employed to evaluate the validity and the performance of multi-regions division localization and optimized multi-regions division localization. Finally, the efficiency of the proposed approach is confirmed via system experiments. The experimental results are consistent with simulation results which further indicate that the presented approach holds great potential in effective underwater vehicles localization for confined structured water scenarios.

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Section: Introductionmentioning

confidence: 99%

A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters

Tao

Sun

Zhou

et al. 2019

International Journal of Advanced Robotic Systems

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Study of RSSI Accuracy for Outdoor Sensor Localization

Dong

Xia

Zhu

et al. 2022

J CIRCUIT SYST COMP

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The movement characteristics that nodes exhibit will bring serious problems in a Wireless Sensor Network (WSN) because most of the protocols do not adapt to node movement. This requires a mobility-aware evaluation technique to locate nodes, forecast communication quality, trace the movement trajectory and formulate thresholds to initiate future handover. One off-the-shelf technology using the Received Signal Strength Indicator (RSSI) of wireless radio is extensively adopted because of the small expense. A node can compute the relative distance between it and its partner by using RSSI readings. However, the measurement results of RSSI fluctuate significantly due to the effects of shadowing and fading. This paper is oriented to investigate the localization accuracy of RSSI in an outdoor ambient condition. To do this, some dynamic and stationary tests are carried out, a calibration line displaying the one-to-one match between RSSI and distance is mapped, five filtering approaches are developed to alleviate the fluctuation of movement curves, and the alleviation effect is measured by calculating the Root Mean Square Error (RMSE) values and by converting the time-domain filtering results into the Fast Fourier Transform (FFT) spectrum. Although the optimized RMSE is reduced to 0.86 and the noise FFT amplitude is less than 1dBm, it may still have a single RSSI value corresponding to more than one distance. Moreover, these distances can differ as much as 2.8m. Since the evaluation error is not acceptable for most cases, it is inaccurate for a mobile node to measure the distance from its partner rely on RSSI readings under outdoor scenarios.

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