Underwater autonomous orientation using submarine light intensity gradient

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Mechatronics Pub Date : 2024-01-03 DOI:10.1016/j.mechatronics.2023.103134

Pengwei Hu , Wenbin Liu , Jian Yang , Xiang Yu , Lijun Xu , Lei Guo

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Abstract

It is a huge challenge for autonomous underwater vehicles (AUVs) to determine heading autonomously without the signal of satellite or underwater acoustic positioning system. The underwater polarization navigation is a newly-developed solution for self-orientation. However, the polarization navigation depending on the Rayleigh scattering model is susceptible to the multiple scattering induced by water depth. To address this issue, the underwater light intensity field is exploited benefiting from its environment suitability. By means of calculating the gradient of light intensity, a vector-field model, with resemblance to the ideal Rayleigh model in geometry, can be established for solar-tracking. The integrated navigation model is built based on the solar vector estimated by light intensity gradient (LIG) and inertial navigation system for heading determination. The static test in water tank and dynamic sea trial were conducted to validate the effectiveness of the LIG-based solar-tracking and orientation method, respectively.

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利用海底光强梯度进行水下自主定向

对于自主潜水器（AUV）来说，在没有卫星或水下声学定位系统信号的情况下自主确定航向是一个巨大的挑战。水下偏振导航是一种新开发的自定向解决方案。然而，基于瑞利散射模型的偏振导航容易受到水深引起的多重散射的影响。为了解决这个问题，我们利用了水下光强场的环境适应性。通过计算光强梯度，可以建立一个矢量场模型，在几何上与理想的瑞利模型相似，用于太阳跟踪。根据光强梯度（LIG）估算的太阳矢量和用于确定航向的惯性导航系统，建立了综合导航模型。为验证基于光强梯度的太阳跟踪和定向方法的有效性，分别进行了水箱静态试验和动态海试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.