Next Article in Journal
High Sensitivity Refractometer Based on TiO2-Coated Adiabatic Tapered Optical Fiber via ALD Technology
Next Article in Special Issue
A Matrix-Based Proactive Data Relay Algorithm for Large Distributed Sensor Networks
Previous Article in Journal / Special Issue
Sensor Fusion of Gaussian Mixtures for Ballistic Target Tracking in the Re-Entry Phase
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(8), 1279;

The Positioning Accuracy of BAUV Using Fusion of Data from USBL System and Movement Parameters Measurements

Faculty of Navigation and Naval Weapons, Polish Naval Academy, Smidowicza 69, Gdynia 81-103, Poland
Faculty of Civil and Environmental Engineering, Department of Geodesy, Gdansk University of Technology, Narutowicza 11/12, Gdansk 80-233, Poland
Author to whom correspondence should be addressed.
Academic Editors: Xue-Bo Jin, Feng-Bao Yang, Shuli Sun and Hong Wei
Received: 16 May 2016 / Revised: 1 August 2016 / Accepted: 2 August 2016 / Published: 15 August 2016
(This article belongs to the Special Issue Advances in Multi-Sensor Information Fusion: Theory and Applications)


The article presents a study of the accuracy of estimating the position coordinates of BAUV (Biomimetic Autonomous Underwater Vehicle) by the extended Kalman filter (EKF) method. The fusion of movement parameters measurements and position coordinates fixes was applied. The movement parameters measurements are carried out by on-board navigation devices, while the position coordinates fixes are done by the USBL (Ultra Short Base Line) system. The problem of underwater positioning and the conceptual design of the BAUV navigation system constructed at the Naval Academy (Polish Naval Academy—PNA) are presented in the first part of the paper. The second part consists of description of the evaluation results of positioning accuracy, the genesis of the problem of selecting method for underwater positioning, and the mathematical description of the method of estimating the position coordinates using the EKF method by the fusion of measurements with on-board navigation and measurements obtained with the USBL system. The main part contains a description of experimental research. It consists of a simulation program of navigational parameter measurements carried out during the BAUV passage along the test section. Next, the article covers the determination of position coordinates on the basis of simulated parameters, using EKF and DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy. The final part contains systemic conclusions justifying the desirability of applying the proposed fusion method of navigation parameters for the BAUV positioning. View Full-Text
Keywords: underwater positioning; estimation of coordinates; autonomous biomimetic underwater vehicle underwater positioning; estimation of coordinates; autonomous biomimetic underwater vehicle

Figure 1

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).

Share & Cite This Article

MDPI and ACS Style

Krzysztof, N.; Aleksander, N. The Positioning Accuracy of BAUV Using Fusion of Data from USBL System and Movement Parameters Measurements. Sensors 2016, 16, 1279.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top