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A Passive Acoustic Positioning Algorithm Based on Virtual Long Baseline Matrix Window

Published online by Cambridge University Press:  02 August 2018

Tao Zhang Open the ORCID record for Tao Zhang [Opens in a new window] ,
Ziqiang Wang ,
Yao Li  and
Jinwu Tong
Tao Zhang*
Affiliation:
(Southeast University, Nanjing, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China)
Ziqiang Wang
Affiliation:
(Southeast University, Nanjing, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China)
Yao Li
Affiliation:
(Southeast University, Nanjing, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China)
Jinwu Tong
Affiliation:
(Southeast University, Nanjing, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China)
*
(E-mail: 101011356@seu.edu.cn)
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Abstract

A new acoustic positioning method for Autonomous Underwater Vehicles (AUV) that uses a single underwater hydrophone is proposed in this paper to solve problems of Long Baseline (LBL) array laying and communication synchronisation problems among all hydrophones in the traditional method. The proposed system comprises a Strapdown Inertial Navigation System (SINS), a single hydrophone installed at the bottom of the AUV and a single underwater sound source that emits signals periodically. A matrix of several virtual hydrophones is formed with the movement of the AUV. In every virtual LBL window, the time difference from the transmitted sound source to each virtual hydrophone is obtained by means of a Smooth Coherent Transformation (SCOT) weighting cross-correlation in the frequency domain. Then, the recent location of the AUV can be calculated. Simulation results indicate that the proposed method can effectively compensate for the position error of SINS. Thus, the positioning accuracy can be confined to 2 m, and the method achieves good applicability. Compared with traditional underwater acoustic positioning systems, the proposed method can provide great convenience in engineering implementation and can reduce costs.

Keywords

Single sound source positioningInertial navigation systemVirtual LBL matrix windowCOT weighting cross-correlation in frequency domain
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 1 , January 2019 , pp. 193 - 206
Copyright
Copyright © The Royal Institute of Navigation 2018 

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