In order to obtain the accurate positioning of underwater nodes rapidly, this paper proposes a rapid underwater node location method based on underwater acoustic ranging of unmanned beacon ships. A query response mechanism is designed between beacon ships and underwater nodes. TOA (Time of arrival) method is used to measure the distance. The unmanned beacon ship's trajectory is designed to reduce the positioning error. And the trajectory is updated by the responding distance. Simulation results show that, compared with other paths, the trajectory of the unmanned beacon ship designed in this paper can achieve the rapid positioning of underwater nodes and higher positioning accuracy.
Path Planning of Unmanned Beacon Ship for Rapid Position of Single Underwater Node by Ranging Method
2020-09-01
199581 byte
Conference paper
Electronic Resource
English
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