Optimal Distance between Mobile Buoy and Target for Moving Long Baseline Positioning System

Abstract

This paper investigates the problem of how to design the distance between a mobile buoy and the target to derive maximum positioning accuracy with a Moving Long Baseline (MLBL). To that end, the positioning model and the error sources of MLBL are derived, respectively. It is assumed that the position measurement of the mobile buoy and the distance measurement between the mobile buoy and the target are corrupted by white Gaussian noises, and the variance of the distance measurement is distance-dependent. Using tools from estimation theory, the Positioning Accuracy Metric (PAM) is designed with the distance error and the position errors are considered. Based on the PAM, the optimal distance between the mobile buoy and target is deduced when the mobile buoys are in optimal geometry. Simulation examples illustrate the results.2. Mobile buoy. 3. Optimal distance. 4. Positioning accuracy.

Optimal Position and Velocity Estimation for Multi‐USV Positioning Systems with Range Measurements

“…Hence, in measurement (16), z k is the only unknown variable to be estimated. The details about them will be explained in the algorithm.…”

“…References [13][14][15] studied the optimal formation of MLBL system. Accordingly, the optimal range between the USV and the target is studied in [16]. References [17][18][19] provided some resource-reducing data transmission approaches in the sensor network.…”

Topology optimisation method for MACL formation based on acoustic measurement network

“…On the basis of [17], the sensitivity of localisation performance to separation angle and range is discussed in [19], and the conclusion is drawn that localisation performance is more sensitive to range than separation angle. In [20], the relationship between optimal distance and positioning accuracy of moving buoys and targets was investigated. Considering the range and positioning error of moving buoy, a positioning accuracy metric method was proposed and the optimal range was derived.…”