Configuration design and analysis of UUVs cooperative localization with underwater acoustic error

doi:10.11947/j.AGCS.2023.20210597

Abstract

Abstract: Due to the particularity of water medium and weak underwater communication conditions, the configuration of underwater unmanned vehicles (UUVs) directly affects the accuracy of UUVs cooperative localization. In the former work, the bending of underwater acoustic ray and sound velocity variation are not considered, and the change of incident angle caused by the distance variation between UUVs is ignored. The model of UUVs cooperative localization with underwater acoustic errors is proposed, and the optimal configuration of UUVs is analyzed by introducing the concept of horizontal dilution precision (HDOP). Selecting the sound velocity profile in Nankai trough, Japan as the underwater velocity field. The cooperative localization accuracy of five UUVs configurations at different depths are analyzed,and the relationship between UUVs cooperative localization results and the ratio of horizontal distance of UUVs and water depths researched. The experimental results show that the optimal UUVs separation angle is 90° in traditional method. When the underwater acoustic ranging error is considered, the separation angle of UUVs is optimal at 25°~30°. The higher the ratio of horizontal distance of UUVs and water depth, the higher the accuracy of UUVs cooperative localization. Considering the limitation of incident angle, it is recommended that the ratio is 1.5~2.0, i.e, the incident angle is 55°~63°, as the optimal configuration of UUVs cooperative localization. Compared with the traditional configuration design method, the configuration with underwater acoustic error improves the accuracy of UUVs cooperative localization by 24.3% on average.

Key words: UUV, cooperative localization, acoustic ranging error, HDOP, configuration design

CLC Number:

P228

DU Zhenqiang, CHAI Hongzhou, XIANG Minzhi, ZHANG Fan, HUI Jun. Configuration design and analysis of UUVs cooperative localization with underwater acoustic error[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(8): 1268-1277.

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