An Design Method of Underwater Positioning System Based on USBL

2014 ◽  
Vol 644-650 ◽  
pp. 968-972
Author(s):  
Ling Zhang
Keyword(s):  
Phase Measurement ◽  
Design Method ◽  
Phase Error ◽  
Positioning System ◽  
Positioning Error ◽  
Short Baseline ◽  
Positioning Accuracy ◽  
Direction Estimation ◽  
Long Baseline ◽  
Underwater Positioning

According to the array size,underwater positioning system can be divided into long baseline array, short baseline array and Ultra-short baseline array (USBL). This paper introduces USBL space positioning principle, describes the essence of direction estimation based on the phase measurement , analyses the factors that affect the positioning error, in view of the phase error, this paper introduces the method of improving positioning accuracy from extension formation.

scholarly journals An Ultra-Short Baseline Underwater Positioning System with Kalman Filtering

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 143
Author(s):  
Qinghua Luo ◽  
Xiaozhen Yan ◽  
Chunyu Ju ◽  
Yunsai Chen ◽  
Zhenhua Luo
Keyword(s):  
Phase Difference ◽  
Kalman Filtering ◽  
Negative Impact ◽  
Minimum Mean Square Error ◽  
Acoustic Signals ◽  
Positioning System ◽  
Short Baseline ◽  
Positioning Accuracy ◽  
Wrong Decision ◽  
Underwater Positioning

The ultra-short baseline underwater positioning is one of the most widely applied methods in underwater positioning and navigation due to its simplicity, efficiency, low cost, and accuracy. However, there exists environmental noise, which has negative impacts on the positioning accuracy during the ultra-short baseline (USBL) positioning process, which results in a large positioning error. The positioning result may lead to wrong decision-making in the latter processing. So, it is necessary to consider the error sources, and take effective measurements to minimize the negative impact of the noise. In our work, we propose a USBL positioning system with Kalman filtering to improve the positioning accuracy. In this system, we first explore a new kind of element array to accurately capture the acoustic signals from the object. We then organically combine the Kalman filters with the array elements to filter the acoustic signals, using the minimum mean-square error rule to obtain accurate acoustic signals. We got the high-precision phase difference information based on the non-equidistant quaternary original array and the phase difference acquisition mechanism. Finally, on account of the obtained accurate phase difference information and position calculation, we determined the coordinates of the underwater target. Comprehensive evaluation results demonstrate that our proposed USBL positioning method based on the Kalman filter algorithm can effectively enhance the positioning accuracy.

scholarly journals An Ultra-Short Baseline Positioning Model Based on Rotating Array & Reusing Elements and Its Error Analysis

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4373 ◽  
Author(s):  
Jinwu Tong ◽  
Xiaosu Xu ◽  
Lanhua Hou ◽  
Yao Li ◽  
Jian Wang ◽  
...  
Keyword(s):  
Depth Information ◽  
Base Line ◽  
Positioning System ◽  
Positioning Error ◽  
Long Distance ◽  
Positioning Accuracy ◽  
Underwater Acoustic ◽  
Positioning Systems ◽  
Model Based ◽  
Underwater Positioning

The USBL (Ultra-Short Base Line) positioning system is widely used in underwater acoustic positioning systems due to its small size and ease of use. The traditional USBL positioning system is based on ‘slant range and azimuth’. The positioning error is an increasing function with the increase in distance and the positioning accuracy depends on the ranging accuracy of the underwater target. This method is not suitable for long-distance underwater positioning operations. This paper proposes a USBL positioning calculation model based on depth information for ‘rotating array and reusing elements’. This method does not need to measure the distance between the USBL acoustic array and target, so it can completely eliminate the influence of long-distance ranging errors in USBL positioning. The theoretical analysis and simulation experiments show that the new USBL positioning model based on ‘rotating array and reusing elements’ can completely eliminate the influence of the wavelength error and spacing error of underwater acoustic signals on the positioning accuracy of USBL. The positioning accuracy can be improved by approximately 90%, and the horizontal positioning error within a positioning distance of 1000 m is less than 1.2 m. The positioning method has high precision performance in the long distance, and provides a new idea for the engineering design of a USBL underwater positioning system.

Ultra Short Baseline (USBL) Calibration for Positioning of Underwater Objects

2019 ◽  
Vol 2 (2) ◽  
pp. 73-85
Author(s):  
Bagus Septyanto ◽  
Dian Nurdiana ◽  
Sitti Ahmiatri Saptari
Keyword(s):  
Acoustic Wave ◽  
Scale Factor ◽  
Positioning System ◽  
Radio Waves ◽  
Short Baseline ◽  
Error Angle ◽  
Satellite Navigation System ◽  
The Earth ◽  
Underwater Positioning ◽  
Radio Signals

In general, surface positioning using a global satellite navigation system (GNSS). Many satellites transmit radio signals to the surface of the earth and it was detected by receiver sensors into a function of position and time. Radio waves really bad when spreading in water. So, the underwater positioning uses acoustic wave. One type of underwater positioning is USBL. USBL is a positioning system based on measuring the distance and angle. Based on distance and angle, the position of the target in cartesian coordinates can be calculated. In practice, the effect of ship movement is one of the factors that determine the accuracy of the USBL system. Ship movements like a pitch, roll, and orientation that are not defined by the receiver could changes the position of the target in X, Y and Z coordinates. USBL calibration is performed to detect an error angle. USBL calibration is done by two methods. In USBL calibration Single Position obtained orientation correction value is 1.13 ̊ and a scale factor is 0.99025. For USBL Quadrant calibration, pitch correction values is -1.05, Roll -0.02 ̊, Orientation 6.82 ̊ and scale factor 0.9934 are obtained. The quadrant calibration results deccrease the level of error position to 0.276 - 0.289m at a depth of 89m and 0.432m - 0.644m at a depth of 76m

Dynamic and Positioning Performances of Linear Electromechanical Actuator

2015 ◽  
Vol 809-810 ◽  
pp. 682-687
Author(s):  
Vasile Nasui ◽  
Mihai Banica ◽  
Dinu Darabă
Keyword(s):  
Dynamic Characteristics ◽  
Practical Importance ◽  
Correct Identification ◽  
Positioning System ◽  
Positioning Error ◽  
Servo Motor ◽  
Positioning Accuracy ◽  
Electromechanical Actuator ◽  
Initial Errors ◽  
Selection For

This paper presents the dynamic characteristics and the proposed positioning performance of the system to them investigated experimentally. In this research, we developed the positioning system and we evaluated positioning accuracy. The developed system uses a servo motor for motion actuation. In this paper, we focused on studying the dependency of the positioning error – elementary errors – the position of the conducting element for the mechanism of the transformation of the rotation translation movement, representatively the mechanism screw – screwdriver and on emphasizing the practical consequences in the field of design, regulation and exploitation of the correct identification of all the initial errors in the structure of the mechanism, their character and the selection for an ultimate calculus of these which are of a real practical importance.

scholarly journals A New Efficient Stiffness Evaluation Method to Improve Accuracy of Hexapods

2018 ◽  
Author(s):  
Vinayak J. Kalas ◽  
Alain Vissière ◽  
Thierry Roux ◽  
Olivier Company ◽  
Sébastien Krut ◽  
...  
Keyword(s):  
Evaluation Method ◽  
Positioning System ◽  
Positioning Error ◽  
Stiffness Parameter ◽  
Positioning Accuracy ◽  
Stiffness Evaluation ◽  
Improve Accuracy ◽  
Identification Technique ◽  
Six Degree Of Freedom ◽  
Structural Compliance

Structural compliance of hexapods limits their positioning accuracy. Taking a step towards solving this problem, this paper proposes a new efficient method to evaluate the stiffness of hexapods in order to predict and correct their positioning error due to compliance. The proposed method can be used to predict the six degree of freedom deflection of the platform under load. This method uses a simple lumped stiffness parameter model whose parameters can be estimated using the identification technique presented in this paper. An experimental study with micrometer level measurements performed on a hexapod based micro-positioning system is used to assess the efficiency of the presented method.

Research on Signal Aliasing in Long Baseline Positioning System

2014 ◽  
Vol 981 ◽  
pp. 435-439
Author(s):  
Jun Cao ◽  
Da Jun Sun ◽  
Dian Lun Zhang
Keyword(s):  
Signal Detection ◽  
Underwater Vehicle ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Long Baseline ◽  
Simulation Results ◽  
Signal Overlap

In the long baseline positioning system, underwater vehicle use transponder reply signals for positioning and navigation, reply signals aliasing is the main reason of inaccurate detection and instability detection. This paper aimed at the problem and research on signal aliasing in long baseline positioning system, theoretical and simulation results show that: Both overlap degree and overlap energy have a certain distribution. The size of signal aliasing area associated with signal overlap degree. The number of signal aliasing is different in different aliasing area. Signal aliasing will affect signal detection, and reduce the long baseline positioning accuracy.

Research on WPS/PDR/MM Integrated Algorithm for Pedestrian Navigation and Positioning

2013 ◽  
Vol 437 ◽  
pp. 870-875 ◽  
Author(s):  
Zhong Liang Deng ◽  
Fei Peng Xie ◽  
Yan Pei Yu ◽  
Xiao Hong Zhao ◽  
Zhuang Yuan
Keyword(s):  
User Experience ◽  
Dead Reckoning ◽  
Positioning System ◽  
Map Matching ◽  
Positioning Error ◽  
Positioning Accuracy ◽  
Integrated Method ◽  
Pedestrian Navigation ◽  
Wireless Positioning ◽  
Pedestrian Dead Reckoning

In order to solve the discontinuity of navigation and positioning in indoor signal coverage blind areas, and false region judgment caused by positioning error, an integrated method combining Wireless Positioning System (WPS), Pedestrian Dead Reckoning (PDR) and Map Matching (MM) is presented in this paper. By using the combination of Kalman filtered WPS and PDR information, inertial information and geographic information, pedestrian position could be evaluated. Through experiment, this method effectively increased positioning accuracy of the system as well as greatly improved the user experience.

scholarly journals Rationale for the Choice of a Positioning System for Mobile Agricultural Robot Movement Controlling

2020 ◽  
Vol 14 (4) ◽  
pp. 63-70
Author(s):  
A. V. Teterev
Keyword(s):  
Information Exchange ◽  
Information Transfer ◽  
Plant Protection ◽  
Plant Protection Products ◽  
Chemical Plant ◽  
Positioning System ◽  
Positioning Error ◽  
Robotic Device ◽  
Positioning Accuracy ◽  
Positioning Systems

A correctly selected positioning system for controlling the mobile robotic means movement ensures high positioning accuracy of the robotic platform in the garden, allows to automate precise operations in the garden and systematize route planning algorithms.(Research purpose) To substantiate the rational choice of a positioning system for controlling the mobile robotic device movement.(Materials and methods) The author formulated requirements for the positioning system to perform precise operations in the garden: mechanized collection of fruits and berries, diff erentiated application of fertilizers and chemical plant protection products. The main ones were: the positioning error was no more than 5 centimetres, the stability of information transfer to the server for building traffi c maps, the movement of a robotic device along a given trajectory, equipping beacons with a mobile power source with a capacity of at least 800 milliampere-hour, information exchange between the beacon and the built-in robotic means with a microprocessor controller according to the RS-485 standard, the signal coverage area was at least 100 square meter.(Results and discussion) The six most relevant positioning systems of the following manufacturers were described: RealTrac, Rusoft CKT, Neomatic, ISBC, Avtosensor, Marvelmind. The author compared their technical and operational parameters: operating frequencies, range, data transfer interface, location accuracy and cost of ready-made kits. He showed that Marvelmind provided uninterrupted operation at frequencies of 433 and 915 megahertz with a positioning error of no more than 2 centimetres. The tests were carried out on a small robotic vehicle with the following characteristics: maximum transport speed – 30 kilometre per hour, operating weight – 500 kilograms, length 2 metres, width – 1.2 metres, height – 1.6 metres.(Conclusions) The author substantiated the choice of the most suitable and aff ordable Marvelmind positioning system and experimentally confi rmed the positioning accuracy declared by the manufacturer. When driving in a loop-free and looped turn, the positioning accuracy did not exceed 1.5 centimetres, which met the agrotechnical requirements for mechanized collection of fruits and berries, for diff erentiated application of fertilizers and chemical plant protection products

scholarly journals Optical Boundaries for LED-Based Indoor Positioning System

Computation ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 7 ◽  
Author(s):  
Olaoluwa Popoola ◽  
Sinan Sinanović ◽  
Wasiu Popoola ◽  
Roberto Ramirez-Iniguez
Keyword(s):  
Mathematical Model ◽  
Indoor Positioning ◽  
Experimental Measurements ◽  
Positioning System ◽  
Positioning Error ◽  
Positioning Accuracy ◽  
Light Emitting ◽  
Positioning Systems ◽  
Indoor Positioning System ◽  
Positioning Time

Overlap of footprints of light emitting diodes (LEDs) increases the positioning accuracy of wearable LED indoor positioning systems (IPS) but such an approach assumes that the footprint boundaries are defined. In this work, we develop a mathematical model for defining the footprint boundaries of an LED in terms of a threshold angle instead of the conventional half or full angle. To show the effect of the threshold angle, we compare how overlaps and receiver tilts affect the performance of an LED-based IPS when the optical boundary is defined at the threshold angle and at the full angle. Using experimental measurements, simulations, and theoretical analysis, the effect of the defined threshold angle is estimated. The results show that the positional time when using the newly defined threshold angle is 12 times shorter than the time when the full angle is used. When the effect of tilt is considered, the threshold angle time is 22 times shorter than the full angle positioning time. Regarding accuracy, it is shown in this work that a positioning error as low as 230 mm can be obtained. Consequently, while the IPS gives a very low positioning error, a defined threshold angle reduces delays in an overlap-based LED IPS.

scholarly journals A SINS/DVL Integrated Positioning System through Filtering Gain Compensation Adaptive Filtering

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4576
Author(s):  
Xiaozhen Yan ◽  
Yipeng Yang ◽  
Qinghua Luo ◽  
Yunsai Chen ◽  
Cong Hu
Keyword(s):  
Adaptive Filtering ◽  
Autonomous Underwater Vehicles ◽  
Doppler Velocity ◽  
Positioning System ◽  
Positioning Error ◽  
Error Statistics ◽  
Positioning Accuracy ◽  
Position Information ◽  
Filtering Method ◽  
Gain Compensation

Because of the complex task environment, long working distance, and random drift of the gyro, the positioning error gradually diverges with time in the design of a strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated positioning system. The use of velocity information in the DVL system cannot completely suppress the divergence of the SINS navigation error, which will result in low positioning accuracy and instability. To address this problem, this paper proposes a SINS/DVL integrated positioning system based on a filtering gain compensation adaptive filtering technology that considers the source of error in SINS and the mechanism that influences the positioning results. In the integrated positioning system, an organic combination of a filtering gain compensation adaptive filter and a filtering gain compensation strong tracking filter is explored to fuse position information to obtain higher accuracy and a more stable positioning result. Firstly, the system selects the indirect filtering method and uses the integrated positioning error to model the navigation parameters of the system. Then, a filtering gain compensation adaptive filtering method is developed by using the filtering gain compensation algorithm based on the error statistics of the positioning parameters. The positioning parameters of the system are filtered and information on errors in the navigation parameters is obtained. Finally, integrated with the positioning parameter error information, the positioning parameters of the system are solved, and high-precision positioning results are obtained to accurately position autonomous underwater vehicles (AUVs). The simulation results show that the SINS/DVL integrated positioning method, based on the filtering gain compensation adaptive filtering technology, can effectively enhance the positioning accuracy.

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