18 pages, 13 figures, 10 tables ; Underwater localization is one of the main problems that must be addressed in subsea exploration, where no global positioning system (GPS) is available. In addition to the traditional underwater localization systems, such as long base line (LBL), new methods have been developed to increase the navigation performance and flexibility and to reduce the deployment costs. For example, range-only and single-beacon (ROSB) is based on an autonomous vehicle that localizes and tracks different underwater targets using slant range measurements carried out with acoustic modems. This paper presents different strategies to improve ROSB tracking methods. The ROSB target tracking method can be seen as a hidden Markov model (HMM) problem. Using Bayes' rule, the probability distribution function of the HMM states can be solved by using different filtering methods. Here, we present and compare different methods under different scenarios, both evaluated in simulations and field tests. The main mathematical notation and performance of each algorithm are presented, where best practice has been derived. From a methodological point of view, this paper advanced the understanding of accuracy that can be achieved by using the ROSB target tracking methods with autonomous underwater vehicles ; This work was supported in part by the JERICO-NEXT project of the EC-H2020 under Grant 654410, in part by the EvoLUL TNA sub-project, in part by the Spanish Ministerio de Economía y Competitividad, through the RESBIO project, under Contract TEC2017-87861-R, and in part by the Generalitat de Catalunya Sistemas de Adquisición Remota de datos y Tratamiento de la Información en el Medio Marino (SARTI-MAR) 2017 SGR 376. The work of I. Masmitja was supported by the FPI-UPC Scholarship from the Universitat Politècnica de Catalunya (UPC) under Grant Agreement 175/2015 ; Peer Reviewed
Range-Only Single-Beacon Tracking of Underwater Targets From an Autonomous Vehicle: From Theory to Practice
2019-06-01
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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