TY - GEN
T1 - Cooperative navigation for multi-UUV using relative observations
AU - Xie, Pan
AU - Kang, Fengju
AU - Wang, Yankai
PY - 2010
Y1 - 2010
N2 - Cooperative navigation for multi-UUV is localizing all members of a team of UUVs by proprioceptive and exteroceptive sensors through acoustic link among UUVs. In the Leader-Fellow structure, the master UUV is equipped with high accuracy sensors, the slave UUV is equipped with low precision sensors added with underwater sonar which provide relative observations between UUVs. The slaver gets the position information from the master by the acoustic modem. The mode of underwater communication for multi-UUV is presented based on acoustic signal one-way-travel-time (Time-Of-Flight, TOF). Proprioceptive and exteroceptive data are fused with an Extended Kalman Filter, the equations are derived for this estimator for relative distance and bearing between two UUVs. Finally, the performance of the approach through a simulation based on Matlab is studied, the research results prove that the navigation accuracy has been improved effectively by using this cooperative navigation method.
AB - Cooperative navigation for multi-UUV is localizing all members of a team of UUVs by proprioceptive and exteroceptive sensors through acoustic link among UUVs. In the Leader-Fellow structure, the master UUV is equipped with high accuracy sensors, the slave UUV is equipped with low precision sensors added with underwater sonar which provide relative observations between UUVs. The slaver gets the position information from the master by the acoustic modem. The mode of underwater communication for multi-UUV is presented based on acoustic signal one-way-travel-time (Time-Of-Flight, TOF). Proprioceptive and exteroceptive data are fused with an Extended Kalman Filter, the equations are derived for this estimator for relative distance and bearing between two UUVs. Finally, the performance of the approach through a simulation based on Matlab is studied, the research results prove that the navigation accuracy has been improved effectively by using this cooperative navigation method.
KW - Cooperative navigation
KW - EKF
KW - Multi-UUV
KW - Relative observation
UR - http://www.scopus.com/inward/record.url?scp=78650532279&partnerID=8YFLogxK
U2 - 10.1109/CISP.2010.5647971
DO - 10.1109/CISP.2010.5647971
M3 - Conference contribution
AN - SCOPUS:78650532279
SN - 9781424465149
T3 - Proceedings - 2010 3rd International Congress on Image and Signal Processing, CISP 2010
SP - 3191
EP - 3194
BT - Proceedings - 2010 3rd International Congress on Image and Signal Processing, CISP 2010
T2 - 2010 3rd International Congress on Image and Signal Processing, CISP 2010
Y2 - 16 October 2010 through 18 October 2010
ER -