Auv localization in an underwater acoustic positioning system
Keywords:Acoustic fields, Linearization, Navigation systems, Underwater acoustics, Acoustic systems, Ground truth, High-precision, Linearization errors, Localization accuracy, Long baseline positioning, Onboard navigation systems, Posterior uncertainties, Source location, Test case, Uncertainty estimates, Underwater acoustic positioning
AbstractThe University of Victoria is designing an Integrated Acoustic System (IAS), a high-precision underwater acoustic positioning system, similar in operation to a commercial long baseline positioning unit. The IAS will be capable of localizing a target within the lAS range to a sufficient accuracy for use as ground truth for testing onboard navigation systems. The non-linear localization accuracy for a target is estimated and the target positional uncertainty is mapped as a function of position within the range by estimating the linearized posterior uncertainties of the source-location. Results show excellent agreement with the true locations, and linearization error is seen to be small. Since linearization errors are shown to be small for the test cases investigated above, linearized uncertainty estimates can now be used to estimate target positional uncertainty for locations throughout the range with a high level of confidence.
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