Underwater Terrain-Aided Navigation Relocation Method in the Arctic
Joint Authors
Liu, Yanji
Zhang, Guichen
Che, Chidong
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-29
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
To solve the localization failure problem of terrain-aided navigation (TAN) system of the autonomous underwater vehicle (AUV) caused by large area of underwater flat terrain in the Arctic, a navigation system with relocation part is constructed to enhance the robustness of localization.
The system uses particle filter to estimate the AUV’s position and reduce the nonlinear noise disturbance, and the prior motion information is added to avoid the mismatching caused by the similar altitude of low-resolution map.
Based on the estimate data and the measured altitude data, the normalized innovation square (NIS) is used to evaluate the differentiation of terrain sequence, and the differentiation is used as a judgment of whether the AUV is in the switch location.
A simulation experiment is carried out on the 500 m resolution underwater map of the Arctic.
The results show that adding the prior motion information can restrain the divergence of the estimator; NIS can accurately reflect the sharp change of terrain sequence.
After the relocation process, the AUV can still maintain the positioning accuracy within 2 km after running 50 km in the area including flat and rough terrain.
This research solves the problem of localization errors in the Arctic flat terrain in the system level and provides a solution for the application of underwater navigation in the Arctic.
American Psychological Association (APA)
Liu, Yanji& Zhang, Guichen& Che, Chidong. 2020. Underwater Terrain-Aided Navigation Relocation Method in the Arctic. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1197052
Modern Language Association (MLA)
Liu, Yanji…[et al.]. Underwater Terrain-Aided Navigation Relocation Method in the Arctic. Mathematical Problems in Engineering No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1197052
American Medical Association (AMA)
Liu, Yanji& Zhang, Guichen& Che, Chidong. Underwater Terrain-Aided Navigation Relocation Method in the Arctic. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1197052
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197052