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Localization Algorithm of Multiple-AUVs Utilizing Relative 3D Observations

3차원 상대 관측 정보를 통한 다중자율무인잠수정의 위치추정 알고리즘

  • Received : 2022.01.28
  • Accepted : 2022.03.14
  • Published : 2022.05.31

Abstract

This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.

Keywords

Acknowledgement

This research was a part of the project titled 'Development of AUV fleet and its operation system for maritime search', funded by Korea Coast Guard

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