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A USBL-Based Navigation Method for Portable AUV Homing
Pages: 36-42
Year: Issue:  2
Journal: Journal of Ocean Technology

Keyword:  Autonomous Underwater Vehicle(AUV)AUV dockingUSBLhoming navigation;
Abstract: The autonomous underwater vehicle(AUV) docking technology is currently the research hotspot in the field of underwater vehicles. The accurate and reliable AUV homing guidance is the key technology for docking.For the docking system of portable AUV, considering the limit space of portable AUV and the requirement for high-precision location, this paper presents a USBL-based navigation method for portable AUV homing, which allows AUV to need compass and transponder only to achieve accurate location. According to the feature of this navigation method, an improved extended Kalman filter algorithm is designed. The advantage is that it can handle delayed USBL data while dynamically estimating the current and updating state equation to eliminate the positioning error caused by the current. Through the lake trial and a large number of simulation experiments, the positioning performance of the localization algorithm is verified under the influence of currents.
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