Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences

Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences

Blog Article

An accurate motion model and reliable measurements are required for autonomous underwater vehicle localization and navigation in underwater environments.However, without a propeller, underwater gliders have limited maneuverability and carrying capacity, which brings difficulties for modeling and measuring.In this paper, an extended Kalman filter (EKF)-based method, combining a modified kinematic model of underwater gliders with the travel-time differences between signals received from a single beacon, is proposed for estimating the glider positions in a predict-update cycle.

First, to accurately establish a motion model for Tatami Cushion underwater gliders moving in the ocean, we introduce two modification parameters, the attack and drift angles, into a kinematic model of underwater gliders, along with depth-averaged current velocities.The attack and drift angles are calculated based on the coefficients of hydrodynamic forces and the sensor-measured angle variation over time.Then, instead of satisfying synchronization requirements, the travel-time differences between signals received from a single beacon, multiplied by the sound speed, are taken as the measurements.

To further reduce the EKF estimation error, the Rauch-Tung-Striebel (RTS) smoothing method is merged into the EKF system.The proposed method is tested in a virtual spatiotemporal environment from HENNA NATURAL an ocean model.The experimental results show that the performance of the RTS-EKF estimate is improved when compared with the motion model estimate, especially by 46% at the inflection point, at least in the particular study developed in this article.