This paper presents an integrated navigational algorithm for UUV (unmanned underwater vehicles) using two acoustic range transducers and SD-IMU (strap-down inertial measurement unit). A range measurement model is derived for a UUV having one acoustic transducer and cruising around two reference transponders at sea floor or surface. The proposed algorithm, called PLBL (pseudo long base line), estimates the position of the vehicle integrating the SD-IMU signals corrected with the two range measurements. Extended Kalman filter was applied to propagate error covariance, to update measurement errors and to correct state equation whenever the external measurements are available. Simulations were conducted to illustrate the effectiveness of the PLBL using the 6-d.o.f. nonlinear numerical model of a UUV at current flow, excluding bottom-fixed DVL. This paper also shows the error convergence of the vehicle's initial position by the additional range measurements without velocity information.


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    Title :

    Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements


    Additional title:

    Pseudo-Navigationsalgorithmus mit langer Basislinie für Unterwasserfahrzeuge mit Trägheitssensoren und zwei akustischen Entfernungsmessungen


    Contributors:

    Published in:

    Ocean Engineering ; 34 , 3-4 ; 416-425


    Publication date :

    2007


    Size :

    10 Seiten, 20 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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