Abstract

A real-time algorithm for autonomous underwater vehicle (AUV) relative position and attitude determination has been proposed, which uses range measurements to acoustic beacons positioned at small distances to each other on a common platform. Mutual arrangement of AUV and beacons is a priori unknown, and their time scales are not synchronized. The developed algorithm considers the nonlinear character of measurements while featuring a lower computational burden compared to the maximum likelihood method. Results from simulation and postprocessing of real data with different AUV arrangements relative to the beacons are provided.

中文翻译：

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使用声学信标确定 AUV 相对位置和姿态

摘要

已经提出了一种用于自主水下航行器 (AUV) 相对位置和姿态确定的实时算法，该算法使用距离测量来定位在公共平台上彼此相距很小的声学信标。AUV 和信标的相互排列是先验未知的，并且它们的时间尺度不同步。开发的算法考虑了测量的非线性特性，同时与最大似然法相比具有较低的计算负担。提供了具有相对于信标的不同 AUV 布置的真实数据的模拟和后处理结果。