About method of increasing the accuracy for auvs group positioning using acoustical navigation system with short base line

Abstract

The paper proposes a cost-effective solution for simultaneously determining the coordinates for a group of inexpensive autonomous underwater vehicles (AUVs). It is assumed that each AUV lacks expensive precision time system and absolute velocity log. The presented method for providing navigation support for a group of AUVs is based on the use of a short-baseline acoustic navigation system (SB ANS). SB ANS implementation is considered, which includes two receiving antennas on board each AUV and one emitting beacon with a known location. To solve the navigation problem, measurements are made of the difference in signal arrival times in each cycle at the SB ANS receiving antennas, the difference in signal arrival times in two consecutive cycles at a single receiving antenna, and measurements of the frequency for the signal received on board the AUV. An algorithm for estimating the AUV’s position based on a particle filter is described, designed for operation on board each AUV in real time. The results of the proposed algorithm computer simulation are presented, which confirmed its higher accuracy compared to the version of the algorithm in which measurements of the difference in the arrival time of signals in two consecutive clock cycles to one receiving antenna are not used.