Ocean currents often cause Autonomous Underwater Vehicles (AUVs) trajectory to drift, ultimately resulting in a failed localization. To solve the problem, this paper focuses on the impact of ocean currents on AUV’s dead reckoned displacements and acoustic ranges, and cooperative localization (CL) algorithm considering unknown ocean currents based on factor graph (FG) is proposed. The ocean currents are introduced into the FG, and a novel FG model considering unknown ocean currents for a CL system with range measurements is constructed according to the state-space model. Furthermore, the proposed CL algorithm is deduced combined with the proposed FG model. Sum-Product Algorithm is adopted to obtain an estimation of AUV’s position. Simulation results illustrate that the localization accuracy of the FG-based CL algorithm is effectively improved when ocean currents are considered compared with ignoring ocean currents. In addition, results also show the superiority of the proposed FG-based CL algorithm considering ocean currents compared with EKF-based CL algorithm considering ocean currents.
A Cooperative Localization Algorithm Considering Unknown Ocean Currents for Multiple AUVs
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 138 ; 1379-1387
2022-03-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
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