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Open AccessArticle

Localization of an Underwater Control Network Based on Quasi-Stable Adjustment

by Jianhu Zhao 1,2, Xinhua Chen 1,2,*, Hongmei Zhang 3 and Jie Feng 1,2
1
School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan 430079, China
2
Institute of Marine Science and Technology, Wuhan University, Wuhan 430079, China
3
Automation Department, School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(4), 950; https://doi.org/10.3390/s18040950
Received: 19 January 2018 / Revised: 14 March 2018 / Accepted: 16 March 2018 / Published: 23 March 2018
(This article belongs to the Special Issue Dependable Monitoring in Wireless Sensor Networks)
There exists a common problem in the localization of underwater control networks that the precision of the absolute coordinates of known points obtained by marine absolute measurement is poor, and it seriously affects the precision of the whole network in traditional constraint adjustment. Therefore, considering that the precision of underwater baselines is good, we use it to carry out quasi-stable adjustment to amend known points before constraint adjustment so that the points fit the network shape better. In addition, we add unconstrained adjustment for quality control of underwater baselines, the observations of quasi-stable adjustment and constrained adjustment, to eliminate the unqualified baselines and improve the results’ accuracy of the two adjustments. Finally, the modified method is applied to a practical LBL (Long Baseline) experiment and obtains a mean point location precision of 0.08 m, which improves by 38% compared with the traditional method. View Full-Text
Keywords: underwater control network; acoustic ranging; quasi-stable adjustment; baseline quality control; depth constraint underwater control network; acoustic ranging; quasi-stable adjustment; baseline quality control; depth constraint
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Zhao, J.; Chen, X.; Zhang, H.; Feng, J. Localization of an Underwater Control Network Based on Quasi-Stable Adjustment. Sensors 2018, 18, 950.

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