Acoustic compensated unscented particle filter algorithm for AUV dynamic docking
ObjectiveTo address the problem of ultra-short baseline (USBL) relative navigation and positioning during the dynamic docking of an autonomous underwater vehicle (AUV) in shallow water, a compensated unscented particle filter (CUPF) algorithm based on a disturbance observer is proposed. MethodsThe C...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2024-10-01
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| Series: | Zhongguo Jianchuan Yanjiu |
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| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03366 |
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| _version_ | 1846173838873722880 |
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| author | Shaobo FU Xiawei GUAN Jia WANG Hao ZHANG |
| author_facet | Shaobo FU Xiawei GUAN Jia WANG Hao ZHANG |
| author_sort | Shaobo FU |
| collection | DOAJ |
| description | ObjectiveTo address the problem of ultra-short baseline (USBL) relative navigation and positioning during the dynamic docking of an autonomous underwater vehicle (AUV) in shallow water, a compensated unscented particle filter (CUPF) algorithm based on a disturbance observer is proposed. MethodsThe CUPF algorithm compensates for missing values in the USBL data based on the dead reckoning model, estimates the unknown disturbances in the dynamic docking of the AUV using observer technology and filters outliers in the USBL data combined with the unscented particle filter to realize the estimation of the AUV's state. Results The lake trial data shows that the proposed CUPF algorithm can effectively remove outliers and fill in missing values for USBL positioning with a speed estimation error of less than 15% and computation time reduced by 57% compared with traditional methods. ConclusionsThe CUPF algorithm can improve the positioning accuracy of USBL while smoothing the AUV motion trajectory and state estimation by fully utilizing relative measurement information for AUV docking. |
| format | Article |
| id | doaj-art-a01d7b4e4b714c66a6c1d742590d7aab |
| institution | Kabale University |
| issn | 1673-3185 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj-art-a01d7b4e4b714c66a6c1d742590d7aab2024-11-08T09:59:41ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852024-10-0119520821310.19693/j.issn.1673-3185.03366ZG3366Acoustic compensated unscented particle filter algorithm for AUV dynamic dockingShaobo FU0Xiawei GUAN1Jia WANG2Hao ZHANG3Wuhan Second Ship Design and Research Institute, Wuhan 430205, ChinaWuhan Second Ship Design and Research Institute, Wuhan 430205, ChinaWuhan Second Ship Design and Research Institute, Wuhan 430205, ChinaWuhan Second Ship Design and Research Institute, Wuhan 430205, ChinaObjectiveTo address the problem of ultra-short baseline (USBL) relative navigation and positioning during the dynamic docking of an autonomous underwater vehicle (AUV) in shallow water, a compensated unscented particle filter (CUPF) algorithm based on a disturbance observer is proposed. MethodsThe CUPF algorithm compensates for missing values in the USBL data based on the dead reckoning model, estimates the unknown disturbances in the dynamic docking of the AUV using observer technology and filters outliers in the USBL data combined with the unscented particle filter to realize the estimation of the AUV's state. Results The lake trial data shows that the proposed CUPF algorithm can effectively remove outliers and fill in missing values for USBL positioning with a speed estimation error of less than 15% and computation time reduced by 57% compared with traditional methods. ConclusionsThe CUPF algorithm can improve the positioning accuracy of USBL while smoothing the AUV motion trajectory and state estimation by fully utilizing relative measurement information for AUV docking.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03366autonomous underwater vehicle (auv)dynamic dockingcompensated unscented particle filter (cupf)ultra-short baseline (usbl)disturbance observer |
| spellingShingle | Shaobo FU Xiawei GUAN Jia WANG Hao ZHANG Acoustic compensated unscented particle filter algorithm for AUV dynamic docking Zhongguo Jianchuan Yanjiu autonomous underwater vehicle (auv) dynamic docking compensated unscented particle filter (cupf) ultra-short baseline (usbl) disturbance observer |
| title | Acoustic compensated unscented particle filter algorithm for AUV dynamic docking |
| title_full | Acoustic compensated unscented particle filter algorithm for AUV dynamic docking |
| title_fullStr | Acoustic compensated unscented particle filter algorithm for AUV dynamic docking |
| title_full_unstemmed | Acoustic compensated unscented particle filter algorithm for AUV dynamic docking |
| title_short | Acoustic compensated unscented particle filter algorithm for AUV dynamic docking |
| title_sort | acoustic compensated unscented particle filter algorithm for auv dynamic docking |
| topic | autonomous underwater vehicle (auv) dynamic docking compensated unscented particle filter (cupf) ultra-short baseline (usbl) disturbance observer |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03366 |
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