センサ位置ずれに頑健なAUV航法：パッシブDoAとドップラー計測の活用
Sensor Misalignment-tolerant AUV Navigation with Passive DoA and Doppler Measurements
音響アレイと姿勢センサ間の位置ずれを考慮し、UKFと非線形最小二乗法を用いてAUVの自己位置推定・ビーコン位置推定・センサアライメントを同時に行う手法を提案した。
著者: Bingbing Zhang, Shuo Liu, Shanmin Zhou, Daxiong Ji, Tao Wang, Tian Xia, Wen Xu
分類: cs.RO
原文アブストラクト
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival (DoA) measurements for AUV navigation without requiring ranging measurements. However, the sensor misalignment between the acoustic array and the attitude sensor was not accounted for. Such misalignment may deteriorate the navigation accuracy. This paper proposes a novel approach that allows simultaneous AUV navigation, beacon localization, and sensor alignment. An Unscented Kalman Filter (UKF) that enables the necessary calculations to be completed at an affordable computational load is developed. A Nonlinear Least Squares (NLS)-based technique is employed to find an initial solution for beacon localization and sensor alignment as early as possible using a short-term window of measurements. Experimental results demonstrate the performance of the proposed method.
