An ultra-short baseline underwater positioning system with Kalman filtering

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dc.contributor.authorLuo, Qinghua
dc.contributor.authorYan, Xiaozhen
dc.contributor.authorJu, Chunyu
dc.contributor.authorChen, Yunsai
dc.contributor.authorLuo, Zhenhua
dc.date.accessioned2021-02-05T11:34:53Z
dc.date.available2021-02-05T11:34:53Z
dc.date.issued2020-12-28
dc.description.abstractThe ultra-short baseline underwater positioning is one of the most widely applied methods in underwater positioning and navigation due to its simplicity, efficiency, low cost, and accuracy. However, there exists environmental noise, which has negative impacts on the positioning accuracy during the ultra-short baseline (USBL) positioning process, which results in a large positioning error. The positioning result may lead to wrong decision-making in the latter processing. So, it is necessary to consider the error sources, and take effective measurements to minimize the negative impact of the noise. In our work, we propose a USBL positioning system with Kalman filtering to improve the positioning accuracy. In this system, we first explore a new kind of element array to accurately capture the acoustic signals from the object. We then organically combine the Kalman filters with the array elements to filter the acoustic signals, using the minimum mean-square error rule to obtain accurate acoustic signals. We got the high-precision phase difference information based on the non-equidistant quaternary original array and the phase difference acquisition mechanism. Finally, on account of the obtained accurate phase difference information and position calculation, we determined the coordinates of the underwater target. Comprehensive evaluation results demonstrate that our proposed USBL positioning method based on the Kalman filter algorithm can effectively enhance the positioning accuracyen_UK
dc.identifier.citationLuo Q, Yan X, Ju C, et al., (2020) An ultra-short baseline underwater positioning system with Kalman filtering. Sensors, Volume 21, Issue 1, 2020, Article number 143en_UK
dc.identifier.issn1424-8220
dc.identifier.urihttps://doi.org/10.3390/s21010143
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/16303
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectsignal denoisingen_UK
dc.subjectKalman filtersen_UK
dc.subjectadaptive filtersen_UK
dc.subjectacoustic signal detectionen_UK
dc.titleAn ultra-short baseline underwater positioning system with Kalman filteringen_UK
dc.typeArticleen_UK

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