Path Estimation Method in Shadow Area Using Underwater Positioning System and SVR

2017 ◽  
Vol 12 (2) ◽  
pp. 173-183 ◽  
Author(s):  
Young Sik Park ◽  
◽  
Jun Woo Song ◽  
Dong Hyuk Lee ◽  
Jangmyung Lee
Keyword(s):  
Estimation Method ◽  
Positioning System ◽  
Shadow Area ◽  
Underwater Positioning

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

scholarly journals Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2218
Author(s):  
Sizhen Bian ◽  
Peter Hevesi ◽  
Leif Christensen ◽  
Paul Lukowicz
Keyword(s):  
Magnetic Field ◽  
Low Cost ◽  
Autonomous Underwater Vehicles ◽  
Wide Band ◽  
Propagation Delay ◽  
Positioning System ◽  
Indoor Environments ◽  
Coverage Area ◽  
Underwater Positioning ◽  
Similar Accuracy

Autonomous underwater vehicles (AUV) are seen as an emerging technology for maritime exploration but are still restricted by the availability of short range, accurate positioning methods necessary, e.g., when docking remote assets. Typical techniques used for high-accuracy positioning in indoor use case scenarios, such as systems using ultra-wide band radio signals (UWB), cannot be applied for underwater positioning because of the quick absorption of the positioning medium caused by the water. Acoustic and optic solutions for underwater positioning also face known problems, such as the multi-path effects, high propagation delay (acoustics), and environmental dependency. This paper presents an oscillating magnetic field-based indoor and underwater positioning system. Unlike those radio wave-based positioning modalities, the magnetic approach generates a bubble-formed magnetic field that will not be deformed by the environmental variation because of the very similar permeability of water and air. The proposed system achieves an underwater positioning mean accuracy of 13.3 cm in 2D and 19.0 cm in 3D with the multi-lateration positioning method and concludes the potential of the magnetic field-based positioning technique for underwater applications. A similar accuracy was also achieved for various indoor environments that were used to test the influence of cluttered environment and of cross environment. The low cost and power consumption system is scalable for extensive coverage area and could plug-and-play without pre-calibration.

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.

Study and implementation of an EKF GIB-based underwater positioning system

2007 ◽  
Vol 15 (6) ◽  
pp. 689-701 ◽  
Author(s):  
A. Alcocer ◽  
P. Oliveira ◽  
A. Pascoal
Keyword(s):  
Positioning System ◽  
Underwater Positioning

scholarly journals ENGINEERING OF ACOUSTIC TECHNOLOGY FOR UNDERWATER POSITIONING OBJECT

2018 ◽  
Vol 10 (3) ◽  
pp. 629-637
Author(s):  
Billi Rifa Kusumah ◽  
Indra Jaya ◽  
Henry M. Manik ◽  
. Susilohadi
Keyword(s):  
Control System ◽  
Sound Source ◽  
Arrival Time ◽  
Equation Model ◽  
Control Device ◽  
Electromagnetic Signal ◽  
Positioning System ◽  
Underwater Sound ◽  
Underwater Positioning ◽  
The Difference

Underwater Positioning System (UPS) is a system to track the existence of the position of an object by utilizing the arrival time of the signal measurement. On land, the system uses an electromagnetic signal called GPS. However, because it cannot penetrate water effectively, an acoustic signal is used as an alternative. The purpose of this research is to engineer the control system of data acquisition and underwater acoustic device to measure arrival time (TOA) and apply equation model for underwater sound source positioning system. the effective frequency resonance of the transducer and the hydrophone is at a frequency of 6 kHz. The acquisition control device is able to measure the TOA signal with an error on a digital channel smaller than an analog channel. The difference between the TOA values measured by oscilloscope and acquisition control system is caused by inaccuracy of threshold estimates at the receiver's peak detector circuit. The position of the sound source coordinates obtained from the equation model shows the highest difference in depth point (z) compared to points (x) and (y), caused by the equation model used is limited to four hydrophone units forming a horizontal baseline.

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.

Development of a digital 3‐D SBL underwater positioning system combined with GNSS compass

2006 ◽  
Vol 120 (5) ◽  
pp. 3050-3050
Author(s):  
Yoshinori Miyamoto ◽  
Masahiko Furusawa ◽  
Keiichi Uchida ◽  
Toshikazu Motoyoshi ◽  
Toshihiro Yamaguchi ◽  
...  
Keyword(s):  
Positioning System ◽  
Underwater Positioning
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