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A TOA/AOA Underwater Acoustic Positioning System Based on the Equivalent Sound Speed

Published online by Cambridge University Press:  05 June 2018

Mingzhen Xin ,
Fanlin Yang ,
Faxing Wang ,
Bo Shi ,
Kai Zhang  and
Hui Liu
Mingzhen Xin
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China) (Key Laboratory of Surveying and Mapping Technology on Island and Reef, National Administration of Surveying, Mapping and Geoinformation, Qingdao 266590, China)
Fanlin Yang*
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China) (Key Laboratory of Surveying and Mapping Technology on Island and Reef, National Administration of Surveying, Mapping and Geoinformation, Qingdao 266590, China) (Key Laboratory of Marine Surveying and Charting in Universities of Shandong, Qingdao 266590, China)
Faxing Wang
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China)
Bo Shi
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China) (Key Laboratory of Surveying and Mapping Technology on Island and Reef, National Administration of Surveying, Mapping and Geoinformation, Qingdao 266590, China) (Key Laboratory of Marine Surveying and Charting in Universities of Shandong, Qingdao 266590, China)
Kai Zhang
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China) (Key Laboratory of Surveying and Mapping Technology on Island and Reef, National Administration of Surveying, Mapping and Geoinformation, Qingdao 266590, China) (Key Laboratory of Marine Surveying and Charting in Universities of Shandong, Qingdao 266590, China)
Hui Liu
Affiliation:
(College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China)
*
E-mail: yang723@163.com
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Abstract

High-precision underwater positioning must eliminate the influence of refraction artefacts. Since a Time Of Arrival - Global Navigation Satellite System Intelligent Buoys (TOA-GIB) system does not measure incident beam angles, common refraction correction methods cannot be directly used for refraction artefacts. An Equivalent Sound Speed (ESS) iteration method is proposed and is based on the transformation relations between depth, the ESS gradient and the incident beam angle. On this basis, a TOA/AOA-GIB system without a real-time Sound Speed Profile (SSP) is proposed to estimate the target position and the ESS gradient as unknown parameters. The results from a simulation experiment show that the positioning accuracy of a TOA/AOA-GIB system is better than 0·07% of water depth when the accuracy of the incident beam angle is 0·1°.

Keywords

Underwater Acoustic PositioningEquivalent Sound SpeedESS Iteration MethodTOA/AOA-GIB SystemRefraction Correction
Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 6 , November 2018 , pp. 1431 - 1440
Copyright
Copyright © The Royal Institute of Navigation 2018 

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