Exploration of Ocean Worlds requires a new type of mission to be developed, an ice penetrating submersible vehicle. Such a mission would present a number of new challenges, including long range autonomous under ice navigation. We have developed a method based on Golden Section Search for an AUV to home to a base station with a single range-only acoustic beacon and no absolute heading measurement capabilities. We demonstrate this method in simulation to home from 10km away to within 1km. Such capabilities would be required for a submersible to explore any substantial portion of the oceans on these Ocean Worlds.
Golden Section Search for Single Beacon Homing
2020-10-26
Preprint
Keine Angabe
Englisch
Golden Selection Search for Single Beacon Homing
NTRS | 2020
|NTIS | 1976
|Homing by acoustic ranging to a single beacon
Tema Archiv | 2000
|