Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.


    Access

    Download


    Export, share and cite



    Title :

    Dynamic positioning of beacon vehicles for cooperative underwater navigation


    Contributors:

    Publication date :

    2012


    Remarks:

    Bahr, Alexander, John J. Leonard, and Alcherio Martinoli. Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation. In Pp. 3760–3767. IEEE, 2012.




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Beacon for underwater positioning self-rescue of autonomous underwater vehicle

    KONG LUQIANG / YAN TIANHONG / HE BO | European Patent Office | 2022

    Free access

    Autonomous Underwater Glider Navigation with Single Seabed Beacon

    Liu, Feng / Chen, Huifang / Xie, Lei | IEEE | 2020


    A beacon navigation method for autonomous vehicles

    McGillem, C.D. / Rappaport, T.S. | Tema Archive | 1989



    Autonomous underwater beacon locator

    COTE ALMOND J | European Patent Office | 2020

    Free access