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Sensors 2016, 16(3), 357; doi:10.3390/s16030357

AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation

1,2,* , 1,2
,
1,2
,
1,2
and
1,2
1
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
2
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
*
Author to whom correspondence should be addressed.
Academic Editor: Jaime Lloret Mauri
Received: 20 January 2016 / Revised: 29 February 2016 / Accepted: 7 March 2016 / Published: 11 March 2016
(This article belongs to the Special Issue Underwater Sensor Nodes and Underwater Sensor Networks 2016)
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Abstract

This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range). Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL. View Full-Text
Keywords: LBL; TDOA; tightly coupled system; fuzzy correlation peak LBL; TDOA; tightly coupled system; fuzzy correlation peak
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Zhang, T.; Shi, H.; Chen, L.; Li, Y.; Tong, J. AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation. Sensors 2016, 16, 357.

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