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Algorithm of long baseline navigation of an autonomous underwater vehicle in the absence of a priori data on its location under conditions of sparse beacon placement
https://doi.org/10.17586/0021-3454-2024-67-12-1052-1064
Abstract
A recursive algorithm is developed to determine coordinates of an autonomous underwater vehicle (AUV) using measurements of ranges to acoustic beacons, taken at different times, together with relative lag and course indicator data. It is assumed that a priori coordinates of the AUV are unknown, and the unambiguous navigation solution cannot be obtained from one-shot measurements due to a sparse beacon location. The algorithm is started upon the first receipt of simultaneous measurements from two beacons. Joint processing of current and saved measurements before the algorithm launch is provided using the Kalman filter. The ambiguity of the AUV location is resolved according to the ratio of a posteriori probabilities of alternatives. The results of modeling and processing of field data, as well as performance assessments, confirming the efficiency of the developed algorithm are presented.
Keywords
Supporting agencies: The study was supported by the grant of the Russian Science Foundation No. 23-19-00626, https://rscf.ru/project/23-19-00626/.
About the Authors
D. A. Koshaev
Concern CSRI Elektropribor, JSC
Russian Federation
Russian Federation
Dmitrу A. Koshaev - Dr. Sci.; Leading Researcher
St. Petersburg
V. V. Bogomolov
Concern CSRI Elektropribor, JSC; ITMO University
Russian Federation
Russian Federation
Vladimir V. Bogomolov - Head of a Sector
St. Petersburg
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Review
For citations:
Koshaev D.A., Bogomolov V.V. Algorithm of long baseline navigation of an autonomous underwater vehicle in the absence of a priori data on its location under conditions of sparse beacon placement. Journal of Instrument Engineering. 2024;67(12):1052-1064. (In Russ.) https://doi.org/10.17586/0021-3454-2024-67-12-1052-1064
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