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A SINS Aided Correct Method for USBL Range Based on Maximum Correntropy Criterion Adaptive Filter | IEEE Journals & Magazine | IEEE Xplore

A SINS Aided Correct Method for USBL Range Based on Maximum Correntropy Criterion Adaptive Filter


Abstract:

The integrated navigation system for strap-down inertial navigation system and ultrashort baseline (SINS/USBL) is one of the main approaches to realize the high-precision...Show More

Abstract:

The integrated navigation system for strap-down inertial navigation system and ultrashort baseline (SINS/USBL) is one of the main approaches to realize the high-precision navigation and positioning of autonomous underwater vehicle (AUV). The relatively low frequency with seconds and the noise caused by the complex environment for USBL measurements have an obviously influence on the accuracy of positioning system. To solve the above problems, a correct method for USBL range measurement and a robust filter based on maximum correntropy criterion (MCC) are proposed in this article. First, the influence of motion effect on the range calculation results in the process of USBL transmission and reception is analyzed. Then, a simple correction method based on short-term high-precision characteristics of SINS is proposed. The short-term high-precision attitude, velocity, and position information of SINS in the process of USBL transmission and reception is used to correct the range error caused by motion effect. Finally, an adaptive filter based on MCC and dynamic model error adaptive factor is proposed to suppress the influence of outliers on positioning accuracy. The simulation and Yangzi River experiments are conducted to evaluate the feasibility of the proposed algorithm. The results shows that the proposed range correction method has a good correction effect on range error between sending and receiving epoch, and the proposed algorithm has better ability to suppress outliers.
Article Sequence Number: 8501913
Date of Publication: 25 March 2022

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I. Introduction

Autonomous underwater vehicle (AUV) has been widely used for underwater topographic survey, target detection, and underwater resource exploitation [1], [2]. In order to ensure that AUV can successfully complete underwater related tasks, the long term, autonomous and high-precision navigation, and positioning technology is needed. At present, among the existing positioning technologies, strap-down inertial navigation system (SINS) is widely used in underwater vehicles because of its highly concealment and autonomy [3], [4]. Although inertial navigation technology has become more and more mature, the fundamental characteristic that inertial navigation system positioning error needs to be readjusted regularly with time to ensure a certain accuracy cannot be changed. Due to the particularity of underwater environment, traditional positioning methods, such as satellite navigation, other traditional radio navigation, and visual navigation, are limited in underwater application. The navigation method based on acoustic information has become one of the effective ways of underwater high-precision positioning, such as long baseline (LBL), short baseline (SBL), and ultra-SBL (USBL) [5]–[7]. Lee et al. [8] proposed an auxiliary positioning algorithm for pseudo USBL system. Only two receivers are installed on the AUV. The distance between the seabed transponder and each receiver is measured by using the ranging ability, and the distance difference model is established with the position information of SINS. At the same time, the information observation of acoustic wave exit angle is added to construct the integrated navigation system of SINS, Doppler velocity log (DVL), and USBL. The pool experiment results show that the information provided by the acoustic system can effectively correct the position error of SINS.

References

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