Abstract
This paper presents an algorithm for single beacon positioning that enables autonomous underwater vehicle (AUV) to obtain exact location. A dynamic calculating model is proposed, utilizing the slant ranges measured by single beacon and navigation sensor information equipped with AUV. Furthermore, an algorithm based on sparse extended information filter is proposed to improve the localization accuracy and efficiency. Finally, simulation based on field data is conducted to verify the performance of the proposed algorithm.
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Acknowledgements
This research was supported by the National Key Research and Development Program of China (Grant No. 2017YFC0305702)
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Zhao, W., Zhao, H., Zhang, J., Han, Y. (2021). An Improvement Single Beacon Positioning Algorithm Using Sparse Extended Information Filter for AUV Localization. In: Liang, Q., Wang, W., Liu, X., Na, Z., Li, X., Zhang, B. (eds) Communications, Signal Processing, and Systems. CSPS 2020. Lecture Notes in Electrical Engineering, vol 654. Springer, Singapore. https://doi.org/10.1007/978-981-15-8411-4_149
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DOI: https://doi.org/10.1007/978-981-15-8411-4_149
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