Open AccessNavigation error prediction for UWAN based on AUV
Author(s) -
Fu Jin,
Li Jing,
Sun Sibo
Publication year - 2020
Publication title -
iet radar, sonar and navigation
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.489
H-Index - 82
eISSN - 1751-8792
pISSN - 1751-8784
DOI - 10.1049/iet-rsn.2020.0329
Subject(s) - underwater , navigation system , computer science , channel (broadcasting) , upgrade , simulation , artificial intelligence , telecommunications , oceanography , geology , operating system
An underwater acoustical navigation (UWAN) system is widely used on an autonomous underwater vehicle (AUV). The navigation error prediction is of great significance to the design, use, and capability upgrade for the UWAN system. Owing to the trend of faster AUV and the need for higher navigation accuracy, traditional navigation models are mismatched. Besides, they adopt fixed input errors (including measurement errors of sound velocity, time delay, and array position), which are inconsistent with the real complex acoustic channel. As a consequence, the prediction accuracy of the navigation error is greatly reduced. The authors proposed a novel navigation error prediction method for UWAN based on AUV. Firstly, they established the acoustical navigation model for moving AUV and deduced the error prediction formula. Secondly, considering the complex underwater acoustic channel, they applied the variable error models as the inputs of the prediction formula. Finally, simulations and experiments in different situations verified the effectiveness of the proposed method. The method will provide effective theoretical support for the performance evaluation of the UWAN system based on moving AUV.