Doppler Difference Aided Long Baseline Navigation for a Fast-Moving Underwater Vehicle

Yongqing Wu, Xiaochuan Ma, Shefeng Yan, Dongyu Yuan, Jilong Li, Youming Li
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Abstract

Underwater navigation that relies solely on dead reckoning suffers from unbounded position error growth. In traditional positioning method based on TDOA, usual interference from multipath reflections and background noise lead to the choice of some fault correlation peaks and low SNR. In the paper, the combination of LBL and Doppler difference of an AUV will be expected to enable survey accuracy at any water depth where the position of an underwater acoustic transmitter equipped on the moving platform can be determined. And based on pattern time delay shift coding pulse, frequency estimation of Doppler shift in LBL method could be described with Doppler effects from AUV moving. Thus, with the intersection of two contours of Doppler difference, the positioning solution of AUV and the relative trial results could be finished and verified.
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多普勒差分辅助快速移动水下航行器的长基线导航
单纯依靠航位推算的水下导航存在无界的位置误差增长。传统的基于TDOA的定位方法中,由于多径反射和背景噪声的干扰,通常会选择一些故障相关峰,信噪比较低。在本文中,水下航行器的LBL和多普勒差的结合将有望实现在任何水深的测量精度,并且可以确定安装在移动平台上的水声发射机的位置。基于模式时延漂移编码脉冲,LBL方法的多普勒频移估计可以用水下机器人运动的多普勒效应来描述。这样,通过多普勒差分两条等值线的相交,就可以完成并验证水下航行器的定位解和相关的试验结果。
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