Single-differenced models for GNSS-acoustic seafloor point positioning

Xue, Shuqiang; Yang, Yuanxi; Yang, Wenlong

doi:10.1007/s00190-022-01613-0

Cited by 13 publications

(6 citation statements)

References 42 publications

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“…GNSS-A is a technology that combines GNSS technology and hydroacoustic positioning technology to transmit spatial reference information to fixed underwater datum points or mobile submersibles. Acoustic positioning technology is the best way to transmit acoustic signals, and the most commonly used products are LBL and USBL [13].…”

Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

“…After years of development, GNSS (Global Navigation Satellite System) technology can achieve positioning accuracy in the decimeter or even centimeter range, providing highly accurate position information above the water surface [10][11][12]. The joint GNSS-A (acoustic) technology can provide a spatial and temporal reference for the establishment of ocean geodetic references and underwater positioning [13,14]. When the AUV is submerged for a period of time, the surface GNSS is used to correct the accumulated errors.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Underwater Acoustic Positioning Systemmentioning

confidence: 99%

Section: Introductionmentioning

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 most thorny error source affecting GNSS-A positioning accuracy is the sound speed variation effect on which great attentions has been paid in numerous studies (Sato 2004;Xu et al 2005;Kido et al 2008;Kinugasa et al 2020;Yokota et al 2022;Xue et al 2022). GNSS-A data analysis software with estimating the sound speed variation has been developed in the past (Fujita et al 2006;Watanabe et al 2020), and the latest software reports that the horizontal precision of GNSS-A positioning has reached approximately 2-3cm, but it might be worse for turbulence in the underwater sound speed structure.…”

Section: Introductionmentioning

confidence: 99%

Seafloor Geodetic Positioning Models with Diversified Acoustic Delay Estimations Under Different Conditions for Detecting the Sound Speed Variation

Xue

Yang

Xiao

et al. 2023

Preprint

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Global Navigation Satellite System–Acoustic (GNSS-A) positioning technique is an important tool for monitoring the submarine tectonic movement and seismic. The submarine positioning accuracy however is seriously affected by the sound speed variation. This contribution investigates the influence of sound speed variation on the seafloor geodetic positioning and proposes diversified acoustic delay models, including two five-parameter models and two three parameter models. It shows that the five-parameter zenith delay model can be degenerated into a three-parameter zenith delay model in the single-point positioning case or under the single-layer sound speed field (SSF) assumption. The proposed zenith delay models are verified by the Japanese opened seafloor geodesy observation-array (SGO-A) data and the sound speed gradient relative to the reference sound speed profile (SSP) is obtained. Experimental tests show that, both the proposed five-parameter zenith delay and three-parameter zenith delay models can achieve a three-dimensional positioning precision at centimeter-level and they can be used to produce a more stable long-term horizontal coordinate time series relative to the GNSS-A ranging combined positioning solver (GARPOS V1.0.0).

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“…Temporal variation of sound speed structure results in evident positioning uncertainty for marine geodetic measurements, which primarily rely on an acoustic approach for localization. In LBL positioning mode or seafloor geodetic network (SGN) calibration, investigations on SSS modeling have garnered considerable attention in terms of functional model establishment [25][26][27][28][29][30] and stochastic model refinement [31,32]. With regard to typical GNSS-acoustic (GNSS-A) data post-processing for seafloor static positioning, the comparatively exact modeling correction method is essentially based on sufficient and repeated observations which are easily available when employing ships, buoys, wave gliders, or unmanned aerial vehicles (UAVs) to continuously conduct GNSS-A surveying towards the static seafloor targets [33][34][35].…”

Section: Introductionmentioning

confidence: 99%

Two-Step Correction Based on In-Situ Sound Speed Measurements for USBL Precise Real-Time Positioning

Zhao,

Liu,

Xue

et al. 2023

Remote Sensing

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The ultra-short baseline (USBL) positioning system has been widely used for autonomous and remotely operated vehicle (ARV) positioning in marine resource surveying and ocean engineering fields due to its flexible installation and portable operation. Errors related to the sound speed are a critical factor limiting the positioning performance. The conventional strategy adopts a fixed sound velocity profile (SVP) to correct the spatial variation, especially in the vertical direction. However, SVP is actually time-varying, and ignoring this kind of variation will lead to a worse estimation of ARVs’coordinates. In this contribution, we propose a two-step sound speed correction method, where, firstly, the deviation due to the acoustic ray bending effect is corrected by the depth-based ray-tracing policy with the fixed SVP. Then, the temporal variation of SVP is considered, and the fixed SVP is adaptively adjusted according to the in situ sound velocity (SV) measurements provided by the conductivity–temperature–depth (CTD) sensor equipped at the ARV. The proposed method is verified by semi-physical simulation and sea-trail dataset in the South China Sea. When compared to the fixed-SVP method, average positioning accuracy with the resilient SVP be improved by 8%, 21%, and 26% in the east, north, and up directions, respectively. The results demonstrate that the proposed method can efficiently improve the adaptability of sound speed observations and deliver better performance in USBL real-time positioning.

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Single-differenced models for GNSS-acoustic seafloor point positioning

Cited by 13 publications

References 42 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

Seafloor Geodetic Positioning Models with Diversified Acoustic Delay Estimations Under Different Conditions for Detecting the Sound Speed Variation

Two-Step Correction Based on In-Situ Sound Speed Measurements for USBL Precise Real-Time Positioning

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