Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

2016 ◽  
Author(s):  
Yuantao Qi ◽  
Bo Wang ◽  
Shunting Wang ◽  
Mengyin Fu
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Navigation ◽  
Delayed Measurements

scholarly journals Cooperative Localization Method for AUV Using Acoustic Communication Measurement

2012 ◽  
Vol 4 ◽  
pp. 227-231 ◽  
Author(s):  
Li Chuan Zhang ◽  
Ming Yong Liu ◽  
Fu Bin Zhang
Keyword(s):  
Acoustic Communication ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Localization ◽  
Relative Location ◽  
Navigation Problem ◽  
Cooperative Navigation ◽  
Acoustic Device ◽  
Navigation Accuracy

In this paper, we propose an algorithm based on double acoustic measurement for cooperative navigation of multiple autonomous underwater vehicles. Research on cooperative navigation of AUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leader-follow structure, the leader AUV is equipped with high precision navigation system, and the follow AUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow AUV, the method may cause fault error solution. Double acoustic communication measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.

Observability Analysis for MAUVs Cooperative Navigation System Based on Moving Long Baseline

2013 ◽  
Vol 475-476 ◽  
pp. 609-615
Author(s):  
Peng Ma ◽  
Fu Bin Zhang ◽  
De Min Xu ◽  
Shao Kun Yang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Simulation Experiments ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Simulation Results ◽  
Moving Long Baseline ◽  
Theoretical Results

This paper addresses the observability problem of 2D Multiple Autonomous Underwater Vehicles (MAUVs) cooperative navigation system. We derive the conditions to keep the local weak observability of navigation system using the Lie derivatives, and characterize the unobservable trajectories of AUVs. We design a series of simulation experiments using the Extended Kalman Filter (EKF) to verify the theoretical results. Finally, the simulation results show that the good performance of navigation system can be presented if avoiding the unobservable trajectories of AUVs.

scholarly journals Robust Student’s $t$ -Based Cooperative Navigation for Autonomous Underwater Vehicles

2018 ◽  
Vol 67 (8) ◽  
pp. 1762-1777 ◽  
Author(s):  
Qian Li ◽  
Yueyang Ben ◽  
Syed Mohsen Naqvi ◽  
Jeffrey A. Neasham ◽  
Jonathon A. Chambers
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Navigation

Cooperative Navigation for Multiple AUVs Based on Relative Range Measurements with a Single Leader

2014 ◽  
Vol 556-562 ◽  
pp. 3117-3123 ◽  
Author(s):  
Xing Li Huang ◽  
Li Yan Liu ◽  
Tao Tao Lv ◽  
Wen Bai Li
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Localization ◽  
Positioning System ◽  
Navigation Problem ◽  
Range Measurements ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Novel Method ◽  
Simulation Results

his paper deals with the cooperative navigation problem of multiple autonomous underwater vehicles (AUV). A novel method which does not depend on a beacon network like in long baseline positioning system is proposed. The principle of this approach is to realize the cooperative localization of AUVs by using relative range measurements between the leader and the follower vehicles by means of an extended Kalman filter. Simulation results that validate the effectiveness of this approach are presented.

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