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Underwater Acoustic Positioning System Design for Shallow Water Depth Application
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 Title & Authors
Underwater Acoustic Positioning System Design for Shallow Water Depth Application
Kim, Kihun; Jang, In-Sung;
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 Abstract
This paper describes the design and implementation of a practical underwater positioning system, which is applicable for shallow water depth conditions. In this paper, two strategies are used to enhance the navigation performance. First, a low-cost acoustic-ranging-based precise navigation solution for shallow water is designed. Then, the outlier rejection algorithm is introduced by designing a velocity gate. The acoustic-ranging-based navigation is implemented by modifying the long base line solution. To enhance the tracking precision, the outlier rejection algorithm is introduced. The performance of the developed approach is evaluated using experiments. The results demonstrate that precise shallow water depth navigation can be implemented using the suggested approaches.
 Keywords
Underwater precise navigation;Shallow water depth navigation;Ranging sonar;
 Language
English
 Cited by
 References
1.
Hunt, M. M., W. M. Marquet, D. A. Moller, K. R. Peal, W. K. Smith and R. C. Spindel. An acoustic navigation system, Technical Report WHOI-74-6. Woods Hole Oceanographic Institution. Woods Hole, (1974).

2.
Milne, P. H. Underwater Acoustic Positioning Systems, Gulf Publishing, (1983).

3.
Fossen, T. I. Guidance and Control of Ocean Vehicles, John Wiley and Sons. (1994).