TY - GEN
T1 - An improved cooperative localization method for multiple autonomous underwater vehicles based on acoustic round-trip ranging
AU - Gao, Wei
AU - Liu, Yalong
AU - Xu, Bo
AU - Che, Yanting
PY - 2014
Y1 - 2014
N2 - Cooperative localization (CL) plays an important role in the application of multiple autonomous underwater vehicles (AUVs) simultaneously, by communicating with each other through acoustic modems on-board, which can not only increase the navigation performance but also reduce the navigation cost. Compared to one-way-ranging (OWR) based on precise time synchronized, the round-trip ranging (RTR) is simple and widely used for AUVs CL. However, it is challenging for existing scheme that the low update rate for each AUV restricts the number of AUVs cooperated seriously. To improve the performance of multiple AUVs CL based on RTR, we propose a new message exchange mechanism that reduce message exchange times and then the overall update rate is increased for each AUV. Simulation and lake-water field trial results confirm the advantage of the proposed CL scheme for multiple AUVs based on acoustic RTR.
AB - Cooperative localization (CL) plays an important role in the application of multiple autonomous underwater vehicles (AUVs) simultaneously, by communicating with each other through acoustic modems on-board, which can not only increase the navigation performance but also reduce the navigation cost. Compared to one-way-ranging (OWR) based on precise time synchronized, the round-trip ranging (RTR) is simple and widely used for AUVs CL. However, it is challenging for existing scheme that the low update rate for each AUV restricts the number of AUVs cooperated seriously. To improve the performance of multiple AUVs CL based on RTR, we propose a new message exchange mechanism that reduce message exchange times and then the overall update rate is increased for each AUV. Simulation and lake-water field trial results confirm the advantage of the proposed CL scheme for multiple AUVs based on acoustic RTR.
KW - autonomous underwater vehicles
KW - cooperative localization
KW - round-trip ranging
UR - https://www.scopus.com/pages/publications/84904958947
U2 - 10.1109/PLANS.2014.6851518
DO - 10.1109/PLANS.2014.6851518
M3 - 会议稿件
AN - SCOPUS:84904958947
SN - 9781479933204
T3 - Record - IEEE PLANS, Position Location and Navigation Symposium
SP - 1420
EP - 1423
BT - Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014
Y2 - 5 May 2014 through 8 May 2014
ER -