In recent years, precious observations by autonomous underwater vehicle (AUV) have been performed. Tracking and navigation of AUV are important for precious observations. In Japan agency for Marine-earth Science and Technology (JAMSTEC) the observations with AUV "URASHIMA" have been implemented in deep ocean area. AUV URASHIMA is navigated by an inertial navigation system (INS) mainly. The absolute position of AUV is tracked on the support vessel with super short base-line (SSBL) method of acoustic positioning. And sometime the own position in AUV is updated by the SSBL estimation result to correct the drift error of INS. However the SSBL is not so accurate. So the position correction includes the SSBL error and the position correction is performed drastically. In this paper, a method for accurate tracking of AUV and rapid correction of the INS status is proposed. The tracking is mainly achieved by SSBL on the support vessel. Additionally the INS data is transmitted from AUV including the acoustic positioning signal. The INS output of relative position to past own position is very accurate within short time. The INS data is used for tracking. Furthermore the position result estimated on the vessel is transmitted to AUV with next interrogation signal. And the own position in AUV is rapidly updated with accurate estimation. Some digital data including INS data is modulated with phase shift keying (PSK) method and direct sequence spread spectrum (DSSS) technique for transmission with acoustic positioning signal. The proposed method was considered by simulation. And good results were obtained.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A positioning of AUV with data transmission using SS acoustic signal


    Contributors:
    Watanabe, Y. (author) / Ochi, H. (author) / Shimura, T. (author) / Hattori, T. (author)

    Published in:

    Publication date :

    2008


    Size :

    7 Seiten, 6 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Acoustic Positioning Systems

    Davis, J. / The Hydrographic Society in Scotland | British Library Conference Proceedings | 2001


    UNDERWATER ACOUSTIC POSITIONING SYSTEM AND UNDERWATER ACOUSTIC POSITIONING METHOD

    KAWADA RYOICHI / NISHITANI AKIHIKO / KOJIMA JUNICHI | European Patent Office | 2023

    Free access

    Underwater Acoustic Positioning Systems

    MacLeod, J. / The Hydrographic Society in Scotland | British Library Conference Proceedings | 2002


    Underwater Acoustic Positioning Systems

    Milne, Peter H. | TIBKAT | 1983


    Underwater acoustic positioning systems

    Mine, P.H. | Tema Archive | 1983