Acoustic Tracking Range for Simultaneously Tracking Three Underwater Vehicles

1961 ◽  
Vol 33 (11) ◽  
pp. 1680-1680
Author(s):  
W. A. Teel
Keyword(s):  
Underwater Vehicles ◽  
Acoustic Tracking ◽  
Tracking Range

Assessing Seaglider® Model-based Position Accuracy on an Acoustic Tracking Range

2021 ◽  
Author(s):  
James S. Bennett ◽  
Frederick R. Stahr ◽  
Charles C. Eriksen ◽  
Martin C. Renken ◽  
Wendy E. Snyder ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Position Error ◽  
Momentum Balance ◽  
Model Parameters ◽  
Tidal Basin ◽  
Acoustic Tracking ◽  
Position Accuracy ◽  
Dependent Flow ◽  
Tracking Range ◽  
Flight Model

AbstractSeagliders® are buoyancy-driven autonomous underwater vehicles whose sub-surface position estimates are typically derived from velocities inferred using a flight model. We present a method for computing velocities and positions during the different phases typically encountered during a dive-climb profile based on a buoyancy-driven flight model. We compare these predictions to observations gathered from a Seaglider deployment on the acoustic tracking range in Dabob Bay (200 m depth, mean vehicle speeds ~30 cm s-1), permitting us to bound the position accuracy estimates and understand sources of various errors. We improve position accuracy estimates during long vehicle accelerations by numerically integrating the flight-model's fundamental momentum-balance equations. Overall, based on an automated estimation of flight-model parameters, we confirm previous work that predicted vehicle velocities in the dominant dive and climb phases are accurate to < 1 cm s-1, which bounds the accumulated position error in time. However, in this energetic tidal basin, position error also accumulates due to unresolved depth-dependent flow superimposed upon an inferred depth-averaged current.

ACOUSTIC TRACKING OF AUTONOMOUS UNDERWATER VEHICLES BY A SET-MEMBERSHIP APPROACH

2002 ◽  
Vol 35 (1) ◽  
pp. 277-282
Author(s):  
A. Caiti ◽  
A. Garulli ◽  
F. Livide ◽  
D. Prattichizzo
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Acoustic Tracking ◽  
Set Membership
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