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A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination
Joint Authors
Fan, Xinnan
Luo, Chengming
Wu, Zhongjian
Ni, Jianjun
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-03-01
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
Localization of autonomous underwater vehicles (AUVs) is a very important and challenging task for the AUVs applications.
In long baseline underwater acoustic localization networks, the accuracy of single-way range measurements is the key factor for the precision of localization of AUVs, whether it is based on the way of time of arrival (TOA), time difference of arrival (TDOA), or angle of arrival (AOA).
The single-way range measurements do not depend on water quality and can be taken from long distances; however, there are some limitations which exist in these measurements, such as the disturbance of the unknown current velocity and the outliers caused by sensors and errors of algorithm.
To deal with these problems, an AUV self-localization algorithm based on particle swarm optimization (PSO) of outliers elimination is proposed, which improves the performance of angle of arrival (AOA) localization algorithm by taking account of effects of the current on the positioning accuracy and eliminating possible outliers during the localization process.
Some simulation experiments are carried out to illustrate the performance of the proposed method compared with another localization algorithm.
American Psychological Association (APA)
Fan, Xinnan& Wu, Zhongjian& Ni, Jianjun& Luo, Chengming. 2018. A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination. Journal of Robotics،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1197737
Modern Language Association (MLA)
Fan, Xinnan…[et al.]. A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination. Journal of Robotics No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1197737
American Medical Association (AMA)
Fan, Xinnan& Wu, Zhongjian& Ni, Jianjun& Luo, Chengming. A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1197737
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197737