Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements

Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision...

Full description

Saved in:
Bibliographic Details
Published in:IEEE journal of oceanic engineering 2005-01, Vol.30 (1), p.153-164
Main Authors: Kussat, N.H., Chadwell, C.D., Zimmerman, R.
Format: Article
Language:English
Subjects:
Acoustic measurements
Acoustic ranging
Coordinate measuring machines
Global Positioning System
kinematic GPS positioning
Kinematics
long baseline positioning
Marine
Marine vehicles
Position measurement
Sea floor
seafloor geodesy
Transponders
Underwater acoustics
Underwater vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame.
ISSN:0364-9059
1558-1691
DOI:10.1109/JOE.2004.835249