scholarly journals Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

Sensors ◽  
2018 ◽  
Vol 18 (4) ◽  
pp. 1044 ◽  
Author(s):  
Zheping Yan ◽  
Lu Wang ◽  
Tongda Wang ◽  
Zewen Yang ◽  
Tao Chen ◽  
...  
Keyword(s):  
Underwater Vehicles ◽  
Communication Delays ◽  
Unmanned Underwater Vehicles ◽  
Cooperative Navigation ◽  
Navigation Algorithm

Study on Cooperative Navigation Based on Nonlinear Filtering for Multiple UUVs

2010 ◽  
Vol 29-32 ◽  
pp. 2132-2137
Author(s):  
Jian Lu ◽  
De Mn Xu ◽  
Li Chuan Zhang ◽  
Fu Bin Zhang
Keyword(s):  
Nonlinear Filtering ◽  
Underwater Vehicles ◽  
Nonlinear Filters ◽  
Base Line ◽  
Localization Problem ◽  
Motion Equations ◽  
Localization Accuracy ◽  
Unmanned Underwater Vehicles ◽  
Cooperative Navigation ◽  
Important Approach

Cooperative navigation of multiple Unmanned Underwater Vehicles(multi-UUVs) is an important approach to solve localization problem of UUV formation. This paper expatiates on the popular cooperative navigation modes of Leader-Fellow structure and Moving Long Base Line(MLBL) structure, and provides the motion equations and the measure equation based on hydroacoustic Time-Of-Flight(TOF), and studies on the cooperative navigation methods which make use of two nonlinear filters of EKF and UKF. It is an obvious conclusion that adopting cooperative navigation methods can improve effectively localization accuracy of UUV equipped with low precision navigation sensors.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals TDMA Datalink Cooperative Navigation Algorithm Based on INS/JTIDS/BA

Electronics ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 782
Author(s):  
Shuo Cao ◽  
Honglei Qin ◽  
Li Cong ◽  
Yingtao Huang
Keyword(s):  
Distribution System ◽  
Large Scale ◽  
Satellite System ◽  
Time Of Arrival ◽  
Military Operations ◽  
Position Information ◽  
Cooperative Navigation ◽  
Navigation Algorithm ◽  
Geometric Dilution Of Precision ◽  
Global Navigation Satellite

Position information is very important tactical information in large-scale joint military operations. Positioning with datalink time of arrival (TOA) measurements is a primary choice when a global navigation satellite system (GNSS) is not available, datalink members are randomly distributed, only estimates with measurements between navigation sources and positioning users may lead to a unsatisfactory accuracy, and positioning geometry of altitude is poor. A time division multiple address (TDMA) datalink cooperative navigation algorithm based on INS/JTIDS/BA is presented in this paper. The proposed algorithm is used to revise the errors of the inertial navigation system (INS), clock bias is calibrated via round-trip timing (RTT), and altitude is located with height filter. The TDMA datalink cooperative navigation algorithm estimate errors are stated with general navigation measurements, cooperative navigation measurements, and predicted states. Weighted horizontal geometric dilution of precision (WHDOP) of the proposed algorithm and the effect of the cooperative measurements on positioning accuracy is analyzed in theory. We simulate a joint tactical information distribution system (JTIDS) network with multiple members to evaluate the performance of the proposed algorithm. The simulation results show that compared to an extended Kalman filter (EKF) that processes TOA measurements sequentially and a TDMA datalink navigation algorithm without cooperative measurements, the TDMA datalink cooperative navigation algorithm performs better.

Sign in / Sign up

Export Citation Format

Share Document