On the estimation of roll alignment error of an ultra short baseline navigation system

2011 ◽  
Author(s):  
Hsin-Hung Chen ◽  
Chau-Chang Wang ◽  
Jia-Pu Jang ◽  
Shu-Heng Wu
Keyword(s):  
Navigation System ◽  
Alignment Error ◽  
Short Baseline

scholarly journals The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part II: Experimental Results

2013 ◽  
Vol 66 (5) ◽  
pp. 773-787 ◽  
Author(s):  
Hsin-Hung Chen
Keyword(s):  
Trial Data ◽  
Experimental Results ◽  
Experimental Result ◽  
Alignment Error ◽  
Navigation Systems ◽  
Analytical Prediction ◽  
Short Baseline ◽  
Sea Trial ◽  
Alignment Errors ◽  
Cross Track

An algorithm of alignment calibration for Ultra Short Baseline (USBL) navigation systems was presented in the companion work (Part I). In this part (Part II) of the paper, this algorithm is tested on the sea trial data collected from USBL line surveys. In particular, the solutions to two practical problems referred to as heading deviation and cross-track error in the USBL line survey are presented. A field experiment running eight line surveys was conducted to collect USBL positioning data. The numerical results for the sea trial data demonstrated that the proposed algorithm could robustly and effectively estimate the alignment errors. Comparisons of the experimental result with the analytical prediction of roll misalignment estimation in Part I is drawn, showing good agreement. The experimental results also show that an inappropriate estimation of roll alignment error will significantly degrade the quality of estimations of heading and pitch alignment errors.

The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part I: Numerical Simulations

2013 ◽  
Vol 66 (4) ◽  
pp. 561-578 ◽  
Author(s):  
Hsin-Hung Chen
Keyword(s):  
Numerical Simulations ◽  
Survey Method ◽  
Alignment Error ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Short Baseline ◽  
Position Errors ◽  
Positioning Errors ◽  
Line Survey ◽  
Survey Approach

Ultra Short Baseline (USBL) navigation systems are often faced with positioning errors arising from misalignments between sensors. This paper proposes a line survey method for USBL angular alignment calibration. In the scheme of USBL line survey, mathematical representations of positioning error arising from heading, pitch and roll misalignments are derived, respectively. The effect of each misalignment angle and how the differences can be used to calibrate each misalignment angle in turn are presented. An iterative algorithm that takes advantage of the geometry of position errors resulting from angular misalignments is developed for USBL calibration. Numerical simulations are provided to demonstrate the effectiveness of the USBL line survey approach. In addition, the effect of measurement error on the estimation of roll alignment error is evaluated and discussed.

An Experiment of Acoustic Navigation System Using Inverse Super Short Baseline for Underwater Vehicle

2014 ◽  
Author(s):  
Yoshitaka Watanabe ◽  
Hiroshi Ochi ◽  
Takuya Shimura
Keyword(s):  
Acoustic Signal ◽  
Relative Position ◽  
Navigation System ◽  
Deep Sea ◽  
Test System ◽  
Experimental Device ◽  
Doppler Velocity ◽  
Depth Information ◽  
Short Baseline ◽  
Mother Ship

Recently underwater vehicles are typically navigated with an inertial navigation system (INS), a Doppler velocity log (DVL), and an acoustic positioning system (APS). APS are necessary, especially in deep sea observation, because it is absolute positioning method. Super short baseline (SSBL) is frequently used because it is easy to operate. In SSBL, the position of vehicle is obtained on the mother ship. In order to use the positioning result to navigate the vehicle, the result is transmitted to the vehicle with a certain amount of delay. Authors are developing a test system of new type APS using inverse SSBL (ISSBL) method. In this method, the vehicle is equipped with a receiver array. Arrival direction of acoustic signal from mother ship is detected, and relative position between the mother ship and the vehicle is calculated with the obtained direction and the depth. Information of ship’s position is included in the transmitted acoustic signal, then absolute position of the vehicle can be calculated with the relative position and the included information. The vehicle position can be obtained in the vehicle in real-time and be used directly to navigate. No reply from the vehicle is necessary. An ocean experiment of this method was conducted in Sagami Bay in Japan. Experimental device was moored on the seabed and the ship cruised with acoustic signal transmission. As a result, this method was available in deep sea area. Demodulation of information in the method was feasible, and positioning of the experimental device was achieved. High rate positioning is useful suppress random error with filtering.

Super Short Baseline Hydroacoustic Navigation System

1978 ◽  
Author(s):  
Karstein Vestgaard ◽  
Kaare Hansen
Keyword(s):  
Navigation System ◽  
Short Baseline

Conceptual Design of Navigation of an AUV for Monitoring CCS Site at Deep Sea Bottom

2011 ◽  
Author(s):  
Yoshitaka Watanabe ◽  
Hiroshi Yoshida ◽  
Hiroshi Ochi ◽  
Tadahiro Hyakudome ◽  
Shojiro Ishibashi ◽  
...  
Keyword(s):  
Conceptual Design ◽  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Acoustic Method ◽  
Doppler Velocity ◽  
Depth Sensor ◽  
Short Baseline ◽  
Position Information ◽  
Sea Bottom ◽  
Acoustic Methods

We, Japan Agency for Marine-Earth Science and Technology (JAMSTEC), are developing an autonomous underwater vehicle (AUV) whose main mission is monitoring a site at the sea bottom for the carbon dioxide capture and storage (CCS). The AUV cruises very near the sea bottom, and is equipped with chemical sensors in order to detect escape of CO2 from sub-bottom. Of course, the position information of the AUV is critical information for the monitoring. In this paper, a conceptual design of navigation of the AUV is described. Recently, navigation of AUV is implemented by integrating multiple navigation devices including inertial navigation system (INS), Doppler velocity log (DVL), depth sensor, acoustic navigation system, and others. The AUV under construction will be equipped with these navigation sensors, and will integrate those sensors’ outputs to navigate herself. In order to measure the absolute position of the AUV the acoustic method is one of fundamental technique. At the first step of development of the AUV, three acoustic methods are considered to adopt. The three methods are super short baseline (SSBL) method which is a tracking from support ship or other surface station, long baseline (LBL) which is navigation based on preplaced acoustic transponders, and virtual LBL (VLBL) which is navigation based on only single transponder. These acoustic methods are integrated with the navigation result of INS, depth sensor, and DVL. The three methods are used in each appropriate case. Which feature of observation is desired simplicity, accuracy, or independence from support ship and time efficiency? The acoustic method is influenced by environment, and also output of other sensors is depending on the environment, for example the DVL miss the data when the terrain is with many up-hills and down-hills. The integration or filtering parameters of the navigation should be adjusted depending on the influential environmental factor.

scholarly journals A Short-baseline Dual-antenna BDS/MIMU Integrated Navigation System

2019 ◽  
Vol 95 ◽  
pp. 03007 ◽  
Author(s):  
Tijing Cai ◽  
Qimeng Xu ◽  
Shuaipeng Gao ◽  
Daijin Zhou
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Satellite System ◽  
Double Difference ◽  
Integrated Navigation ◽  
Angle Error ◽  
Short Baseline ◽  
Integrated Navigation System ◽  
Orientation Method ◽  
Heading Angle

This paper puts forward a short-baseline dual-antenna BDS/MIMU integrated navigation, constructs the carrier phase double difference model of BDS (BeiDou Navigation Satellite System), and presents a 2-position initial orientation method on BDS. The Extended Kalman-filter has been applied for the integrated navigation system. The differences between MIMU and BDS position, velocity and carrier phase information are used as measurements. The experiment results indicate that the position error is less than 1m, the pitch angle error and roll angle error are less than 0.1°, and the heading angle error is about 1°. It shows that the new integrated navigation system has good performance and can be applied in various fields including USV and UAV.

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