Scalable Real-time Global Self-localization of Multiple AUV System using Azimuth, Elevation, and Depth Difference Acoustic Positioning

Yuki Sekimori, Hiroumi Horimoto, Yukiyasu Noguchi, Takumi Matsuda, Toshihiro Maki

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper proposes the method and evaluates the performance characteristics of a real-time global self-localization using an acoustic positioning by one-way azimuth, elevation, and depth difference (AEDD) measurements via wireless acoustic broadcast communication. This method allows a high-resolution wide-area underwater survey of a multiple small-sized autonomous underwater vehicle (AUV) system without any time synchronization. In the simulation, a particle filter estimator with the proposed method bounded the self-localization errors over time, and the errors were low at steeper elevation angles. The offshore experiment results of the acoustic positioning by AEDD measurements showed that the positioning accuracy and precision are high at steeper elevation angles; however, the accuracy degrades significantly at shallower elevation angles. The decrease in positioning precision at shallower elevation angles is mathematically inevitable, but correcting the systematic errors of the angle measurements may improve the accuracy.

Original languageEnglish
Title of host publicationOCEANS 2021
Subtitle of host publicationSan Diego - Porto
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780692935590
DOIs
Publication statusPublished - 2021
EventOCEANS 2021: San Diego - Porto - San Diego, United States
Duration: 20 Sep 202123 Sep 2021

Publication series

NameOceans Conference Record (IEEE)
Volume2021-September
ISSN (Print)0197-7385

Conference

ConferenceOCEANS 2021: San Diego - Porto
Country/TerritoryUnited States
CitySan Diego
Period20/09/2123/09/21

Keywords

  • Acoustic positioning
  • Autonomous underwater vehicles
  • Mobile robots
  • Navigation
  • Self-localization
  • Underwater acoustic communication

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