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原文传递 New Procedure for Simultaneous Navigation of Multiple AUV's.

题名：	New Procedure for Simultaneous Navigation of Multiple AUV's.
作者：	baker, b. n. odell, d. l. anderson, m. j. bean, t. a. edwards, d. b.
关键词：	symposia, acoustic waves, transponders, hydrophones, autonomous navigation, bearing(direction), position finding
摘要：	Navigation by Underwater Autonomous Vehicles (AUVs) is a challenging problem because radio waves do not penetrate water, and acoustic waves must be used instead for determination of position. Current systems utilize round-trip time-of-flight between single vehicles and fixed transponders to determine position. While reliable, the drawback of this method is that there is an upper limit on the number of vehicles that can navigate at the same time. We describe a new procedure that allows simultaneous navigation of multiple vehicles using the acoustic navigation signals from only one vehicle in the group. One vehicle in the group is assigned to navigate conventionally with an acoustic Long BaseLine (LBL) system. The other vehicles in the group are equipped with a sensor that can determine the relative angular heading to the source of an intercepted acoustic signal, and a separate sensor that can determine angular inertial heading. As the chosen vehicle navigates conventionally, the other vehicles in the group intercept the return pings from the fixed transponders. From these signals, and the inertial heading, each vehicle is able to determine their inertial position. The sensor used to determine relative angular heading to the source of an intercepted signal consists of two hydrophones separated by an approximate distance of one meter. Relative angular heading is extracted from the difference-in-arrival time using correlation between the hydrophone signals. An error propagation analysis is performed that quantifies the accuracy of the inertial position fix as it depends upon vehicle-transponder geometry, and sensor precision. Experiments, designed to determine the accuracy of the navigation technique to compare with error-propagation analysis, and to explore its performance when implemented in formation-flying cooperative behavior, are described. / NOTE: Conference paper. / Supplementary Notes: The original document contains color images. Presented at Oceans 2005 MTS/IEEE held in Washington, DC on 18-23 September 2005. / Availability Note: Product reproduced from digital image. Order this product from NTIS by: phone at 1-800-553-NTIS (U.S. customers); (703)605-6000 (other countries); fax at (703)605-6900; and email at orders@ntis.gov. NTIS is located at 5285 Port Royal Road, Springfield, VA, 22161, USA.
总页数：	u0710；5p
报告类型：	科技报告