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Single beacon underwater navigation method in the presence of unknown effective sound velocity, clock drift and inaccurate beacon position

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Title Single beacon underwater navigation method in the presence of unknown effective sound velocity, clock drift and inaccurate beacon position
 
Creator Yu, X
Qin, H-D
Zhu, Z-B
 
Subject Clock drift
Effective sound velocity
Expectation-maximization
Single beacon navigation
 
Description 969-977
Existing single beacon navigation systems commonly require precise known Effective Sound Velocity (ESV) and beacon
position, as well as clock synchronization between the beacon and the hydrophone. However, these conditions are often
difficult to guarantee in practical applications. Unknown clock drift, inaccurate ESV and beacon position will affect the
range measurement precision, and consequently induce large localization errors. To eliminate the influence of above
mentioned factors on the positioning accuracy, this paper proposes a new method of single beacon navigation. It treats clock
drift, ESV and beacon position as unknown system parameters, and estimates them by the Expectation Maximization (EM)
method. The advantages of new method are verified by field data. Numerical examples indicate that the method has better
navigation performance than existing state-of-the-art methods in the presence of unknown clock-drift, ESV and beacon
position setting error.
 
Date 2022-03-14T09:52:53Z
2022-03-14T09:52:53Z
2021-11
 
Type Article
 
Identifier 2582-6727 (Online); 2582-6506 (Print)
http://nopr.niscair.res.in/handle/123456789/59320
 
Language en
 
Publisher NIScPR-CSIR, India
 
Source IJMS Vol.50(11) [November 2021]