Article
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Preserved in Portico This version is not peer-reviewed
Tightly Coupled INS/APS Passive Single Beacon Navigation
Version 1
: Received: 20 February 2023 / Approved: 21 February 2023 / Online: 21 February 2023 (01:56:42 CET)
A peer-reviewed article of this Preprint also exists.
Zou, Z.; Wang, W.; Wu, B.; Ye, L.; Ochieng, W.Y. Tightly Coupled INS/APS Passive Single Beacon Navigation. Remote Sens. 2023, 15, 1854. Zou, Z.; Wang, W.; Wu, B.; Ye, L.; Ochieng, W.Y. Tightly Coupled INS/APS Passive Single Beacon Navigation. Remote Sens. 2023, 15, 1854.
Abstract
Unlike aerial or terrestrial navigation, the Global Navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA/Range estimator using the model-based method and the tightly coupled INS/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS/OWTT navigation, the proposed method's performance is proven. The main contributions of this work are: 1. Propose a new architecture of underwater integrated navigation; 2. Apply the passive acoustic detecting method in the navigation to improve accuracy. 3. Apply the tightly coupled method to improve availability.
Keywords
INS/APS single beacon navigation; tightly coupled navigation; passive synthetic aperture; joint DOA/OWTT estimation
Subject
Engineering, Marine Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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