Tightly Coupled INS/APS Passive Single Beacon Navigation

Zou, Zhuoyang; Wang, Wenrui; Wu, Bin; Ye, Lingyun; Ochieng, Washington Yotto

doi:10.3390/rs15071854

Cited by 2 publications

(1 citation statement)

References 43 publications

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“…Currently, inertial navigation systems are the primary navigation tools used for underwater vehicles. They do not rely on external information and can provide real-time, continuous, autonomous, and all-weather data such as position, velocity, acceleration, and attitude, meeting the requirements of underwater navigation for concealment and reliability [1][2][3][4]. However, the drift error of inertial devices accumulates over time, leading to a gradual decrease in the navigation accuracy of the inertial navigation system, which cannot meet the accuracy requirements for long-duration missions.…”

Section: Introductionmentioning

confidence: 99%

Enhancing Path Planning Efficiency for Underwater Gravity Matching Navigation with a Novel Three-Dimensional Along-Path Obstacle Profiling Algorithm

Zhou,

Zheng,

et al. 2023

Remote Sensing

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This paper presents a study on enhancing the efficiency of underwater gravity matching navigation path planning in a three-dimensional environment. Firstly, to address the challenges of the computational complexity and prolonged calculation times associated with the existing three-dimensional path planning algorithms, a novel Three-Dimensional Along-Path Obstacle Profiling (TAOP) algorithm is introduced. The principles of the TAOP algorithm are as follows: (1) unfolding obstacles along the path using the path obtained from two-dimensional planning as an axis, interpolating water depth values based on downloaded terrain data, and subjecting obstacles to dilation treatment to construct a dilated obstacle profile for path segments; (2) conducting height direction course planning and a secondary optimization of the path based on the profile contours of the dilated obstacles; and (3) integrating height planning with the path points from two-dimensional planar planning to obtain a complete path containing all turning points in the three-dimensional space. Secondly, gravity anomaly data are utilized to delineate gravity suitability areas, and a three-dimensional planning environment that is suitable for underwater gravity matching navigation is established by integrating seafloor terrain data. Under identical planning environments and parameter conditions, the performance of the TAOP algorithm is compared to that of the RRT* algorithm, Q-RRT* algorithm, and Depth Sorting Fast Search (DSFS) algorithm. The results show that, compared to the RRT* algorithm, Q-RRT* algorithm, and DSFS algorithm, the TAOP algorithm achieves efficiency improvements of 15.6 times, 5.98 times, and 4.04 times, respectively.

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Section: Introductionmentioning

confidence: 99%

Enhancing Path Planning Efficiency for Underwater Gravity Matching Navigation with a Novel Three-Dimensional Along-Path Obstacle Profiling Algorithm

Zhou,

Zheng,

et al. 2023

Remote Sensing

View full text Add to dashboard Cite

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Underwater inertial error rectification with limited acoustic observations

Tang,

He,

et al. 2024

Satell Navig

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Underwater inertial navigation is particularly difficult for the long-durance operations as many navigation systems such global satellite navigation systems are unavailable. The acoustic signal is a marvelous choice for underwater inertial error rectification due to its underwater penetration capability. However, the traditional Acoustic Positioning Systems (APS) are expensive and incapable of positioning with limited acoustic observations. Two novel underwater inertial error rectification algorithms with limited acoustic observations are proposed. The first one is the single acoustic-beacon Range-only Matching Aided Navigation (RMAN) method, which is inspired by matching navigation without reference maps and presented for the first time. The second is the improved single acoustic-beacon Virtual Long Baseline (VLBL) method, which considers the impact of indicated relative position increments on virtual beacon reconstruction. Both RMAN and improved VLBL are further developed when multi acoustic-beacons are available, named mAB-RMAN and mAB-VLBL. The comprehensive simulations and field investigations were conducted. The results demonstrated that the proposed methods achieved excellent accuracy and stability compared to the baseline, specifically, the mAB-RMAN and mAB-VLBL can reduce the inertial error by more than 90% and 98% when using single and double acoustic-beacons, respectively. These proposed techniques will provide new perspectives for underwater positioning, navigation, and timing.

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Tightly Coupled INS/APS Passive Single Beacon Navigation

Cited by 2 publications

References 43 publications

Enhancing Path Planning Efficiency for Underwater Gravity Matching Navigation with a Novel Three-Dimensional Along-Path Obstacle Profiling Algorithm

Enhancing Path Planning Efficiency for Underwater Gravity Matching Navigation with a Novel Three-Dimensional Along-Path Obstacle Profiling Algorithm

Underwater inertial error rectification with limited acoustic observations

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