Single-beacon underwater navigation methods have wide application prospects in the field of underwater navigation owing to their time and cost advantages. The performance of single-beacon navigation systems is affected by the precision of the presumed effective sound velocity (ESV), which is difficult to determine. In this paper, basic single-beacon navigation methods that require an exact known ESV are described. Then, the state-augmented method, expectation-maximization method, and variational Bayesian approximation method for estimating the ESV online are introduced, and corresponding navigation methods are presented. The performance of these navigation methods is evaluated via numerical studies based on field data.


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    Titel :

    Single-Beacon Based Underwater Robot Navigation


    Weitere Titelangaben:

    Offshore Robotics


    Beteiligte:
    Su, Shun-Feng (Herausgeber:in) / Wang, Ning (Herausgeber:in) / Zhu, Zhong-ben (Autor:in) / Qin, Hong-de (Autor:in) / Yu, Xiang (Autor:in)

    Erschienen in:

    Offshore Robotics ; Kapitel : 3 ; 59-85


    Erscheinungsdatum :

    2021-10-19


    Format / Umfang :

    27 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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