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Sensors (Basel) ; 20(21)2020 Oct 23.
Artigo em Inglês | MEDLINE | ID: mdl-33114036


An accurate observation model and statistical model are critical in underwater integrated navigation. However, it is often the case that the statistical characteristics of noise are unknown through the ultra-short baseline (USBL) system/Doppler velocity log (DVL) integrated navigation in the deep-sea. Additionally, the velocity of underwater vehicles relative to the bottom of the sea or the currents is commonly provided by the DVL, and an adaptive filtering solution is needed to correctly estimate the velocity with unknown currents. This paper focuses on the estimation of unknown currents and measurement noise covariance for an underwater vehicle based on the USBL, DVL, and a pressure gauge (PG), and proposes a novel unbiased adaptive two-stage information filter (ATSIF) for the underwater vehicle (UV) with an unknown time-varying currents velocity. In the proposed algorithm, the adaptive filter is decomposed into a standard information filter and an unknown currents velocity information filter with interconnections, and the time-varying unknown ocean currents and measurement noise covariance are estimated. The simulation and experimental results illustrate that the proposed algorithm can make full use of high-precision observation information and has better robustness and navigation accuracy to deal with time-varying currents and measurement outliers than existing state-of-the-art algorithms.

Sensors (Basel) ; 19(6)2019 Mar 21.
Artigo em Inglês | MEDLINE | ID: mdl-30901975


The Global Navigation Satellite System combined with acoustic technique has achieved great economic benefits in positioning of ocean bottom seismometers, with hundreds of underwater transponders attached to seismometers typically being deployed during oil exploration. The previous single transponder positioning method ignored the similar underwater environments between the transponders. Due to the refraction effect of sound, the technique usually showed poor positioning accuracy in shallow water when the incidence angles are large. In this paper, the effect of sound ray bending is analyzed based on the sound ray tracing method in shallow water, and a new piecewise incidence angle model is proposed to improve the positioning accuracy of multiple objects in order to estimate the sound ray bending correction. The parameters of the new model are divided into groups and estimated by sequential least squares method, together with all of the transponders. The observability analysis is discussed in simulation and testing experiments in the South China Sea. The results show that the newly proposed method is able to make full use of the acoustic observation data of hundreds of transponders to accurately estimate the SRB correction, which could also significantly improve the positioning accuracy of multiple transponders.

Sensors (Basel) ; 16(4): 470, 2016 Apr 01.
Artigo em Inglês | MEDLINE | ID: mdl-27043580


When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component.