Ocean Systems Engineering

  • 제3권1호
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  • Pages.71-77
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  • 2013
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  • 2093-6702(pISSN)
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  • 2093-677X(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Acoustic theory application in ultra short baseline system for tracking AUV

  • Ji, Daxiong (State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences) ;
  • Liu, Jian (State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences) ;
  • Zheng, Rong (State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences)
  • 투고 : 2012.12.12
  • 심사 : 2013.03.18
  • 발행 : 2013.03.25
⟨ 이전 논문 다음 논문 ⟩

초록

The effective tracking area of ultra short baseline (USBL) systems strongly relates to the safety of autonomous underwater vehicles (AUVs). This problem has not been studied previously. A method for determining the effective tracking area using acoustic theory is proposed. Ray acoustic equations are used to draw rays which ascertain the effective space. The sonar equation is established in order to discover the available range of the USBL system and the background noise level using sonar characteristics. The available range defines a hemisphere like enclosure. The overlap of the effective space with the hemisphere is the effective area for USBL systems tracking AUVs. Lake and sea trials show the proposed method's validity.

키워드

과제정보

연구 과제 주관 기관 : natural science foundation of Liaoning Province of China

참고문헌

  1. Batista, P., Silvestre, C. and Oliveira, P. (2009), "A sensor-based controller for homing of underactuated AUVs", IEEE T. Robot., 25(3), 701-716. https://doi.org/10.1109/TRO.2009.2014496
  2. Hegrenaes, O. and Hallingstad, O. (2011), "Model-aided INS with sea current estimation for robust underwater navigation", IEEE J. Oceanic Eng., 36(2), 316-337. https://doi.org/10.1109/JOE.2010.2100470
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