Skip to main content
SpringerLink
Log in

Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 2. Simulation

  • Published:
Gyroscopy and Navigation Aims and scope Submit manuscript

Abstract—

The algorithm presented earlier is detailed for the case when an autonomous underwater vehicle (AUV) is equipped with a strapdown inertial navigation system (SINS) based on angular rate sensors and a water speed log. The algorithm simulation results for a SINS of navigation grade, a dual axis water speed log, two trajectories of the AUV motion when approaching the beacon to a distance of 100 m; two values of the AUV’s speed; continuous and fragmented diagrams of received acoustic measurements are presented. The results show that the algorithm provides the AUV positioning accuracy of several meters even in the situations when the received acoustic measurements are discontinuous. It has been found that the accuracy characteristics provided by the algorithm adequately reflect the level of real errors.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.
Fig. 8.
Fig. 9.

Similar content being viewed by others

REFERENCES

  1. Koshaev, D.A., Multiple model algorithm for single-beacon navigation of autonomous underwater vehicle without its a priori position. Part 1. Mathematical formulation, Gyroscopy and Navigation, 2020, vol. 11, no. 3, pp. 230–243.

    Article  Google Scholar 

  2. Aleshin, B.S., Afonin, A.A., Veremeenko, K.K. et al., Orientatsiya i navigatsiya podvizhnykh ob’ektov: sovremennye informatsionnye tekhnologii (Orientation and Navigation of Moving Objects: Modern Information Technologies), Eds. B.S. Aleshin, K.K. Veremeenko, A.I. Chernomorskii, Moscow: Fizmatlit, 2006.

    Google Scholar 

  3. Golovan, A.A., and Parusnikov, N.A., Matematicheskie osnovy navigatsionnykh sistem. Chast’ 1: Matematicheskie modeli inertsial’noi navigatsii (Mathematical Fundamentals of Navigation Systems. Part 1. Mathematical Models of Inertial Navigation), 3rd edition, revised and updated, Moscow: MAKS Press, 2011.

  4. Emel’yantsev, G.I., and Stepanov, A.P., Integrirovannye inertsial’no-sputnikovye sistemy navigatsii i orientatsii (Integrated Inertial Satellite Systems of Orientation and Navigation), St. Petersburg: Concern CSRI Elektropribor, 2016.

  5. Rivkin, S.S., Ivanovskii, R.I., and Kostrov, A.V., Statisticheskaya optimizatsiya navigatsionnykh sistem (Statistical Optimization of Navigation Systems), Leningrad: Sudostroenie, 1976.

  6. Stepanov, O.A., Primenenie teorii nelineinoi fil’tratsii v zadachakh obrabotki navigatsionnoi informatsii (Nonlinear Filtering Theory Applied to Navigation Information Processing), 3rd edition, St. Petersburg: Concern CSRI Elektropribor, 2003.

  7. https://www.ixblue.com

  8. https://www.elektropribor.spb.ru

  9. https://www.skipper.no

  10. https://www.yokogawadenshikiki.co.jp/ydk/

  11. Rivkin, S.S., Metod optimal’noi fil’tratsii Kalmana i ego primenenie v inertsial’nykh navigatsionnykh sistemakh. Chast’ 1. Matematicheskie osnovy i voprosy realizatsii metoda optimal’noi fil’tratsii Kalmana (Kalman Optimal Filtering Method and Its Application in Inertial Navigation Systems. Part 1. Mathematical Fundamentals and Aspects of Kalman Optimal Filtering Method Implementation), Leningrad: Sudostroenie, 1973.

  12. Stepanov, O.A., Vasil’ev, V.A., Toropov, A.B., Loparev, A.V. and Basin, M.V., Comparative analysis of filtering algorithms in processing the navigation measurements of polynomial type, Materialy XXXI konferentsii pamyati vydayushchegosya konstruktora giroskopicheskikh priborov N.N. Ostryakova (Proc. 31st Conference in Memory of N.N. Ostryakov), St. Petersburg, Concern CSRI Elektropribor, 2018, pp. 146–154.

  13. Stepanov, O.A., Vasiliev, V.A., Toropov, A.B., Loparev, A.V., and Basin, M.V., Efficiency analysis of a filtering algorithm for discrete-time linear stochastic systems with polynomial measurements, Journal of the Franklin Institute, 2019, vol. 356, no. 10, pp. 5573–5591.

    Article  MathSciNet  Google Scholar 

Download references

FUNDING

This work was financially supported by the Government of the Russian Federation (Grant 08-08).

Author information

Authors and Affiliations

  1. Concern CSRI Elektropribor, JSC, 197046, St. Petersburg, Russia

    D. A. Koshaev

  2. ITMO University, 197101, St. Petersburg, Russia

    D. A. Koshaev

Authors
  1. D. A. Koshaev
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to D. A. Koshaev.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Koshaev, D.A. Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 2. Simulation. Gyroscopy Navig. 11, 319–332 (2020). https://doi.org/10.1134/S2075108720040069

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S2075108720040069

Keywords:

Search

Navigation