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AUV Relative Position and Attitude Determination Using Acoustic Beacons

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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.

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ACKNOWLEDGMENTS

The author is grateful to his colleagues from Concern CSRI Elektropribor A.M. Gruzlikov (Head of Department), D.A. Mukhin (Head of Group), N.A. Shalaev (1st category engineer), and V.G. Karaulov (IT engineer), who have tested AUV and beacon models in the test basin and provided the test data for the algorithm evaluation.

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  1. Concern CSRI Elektropribor, St. Petersburg, Russia

    D. A. Koshaev

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Correspondence to D. A. Koshaev.

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Koshaev, D.A. AUV Relative Position and Attitude Determination Using Acoustic Beacons. Gyroscopy Navig. 13, 262–275 (2022). https://doi.org/10.1134/S2075108722040083

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