TY - GEN
T1 - A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy
AU - Alexandri, Talmon
AU - Diamant, Roee
N1 - Publisher Copyright: © 2016 IEEE.
PY - 2017/1/17
Y1 - 2017/1/17
N2 - We present a partial observable, non-linear solution for AUV aided navigation, referred as the Reverse Bearing Only Target Motion Analysis (Reverse BO-TMA). Reverse BO-TMA utilizes information about the course and speed of a passing vessel to provide a passive method for self localization of an Autonomous Underwater Vehicle (AUV). In Reverse BO-TMA, the AUV relies on radiated noise from the vessel to measure the bearing to the target vessel. Compared to traditional range-based localization methods, Reverse BO-TMA is a fully passive method that allows the AUV to remain farther from the anchor and does not require collaboration or message exchange in the form of time-synchronization between the AUV and the vessel. We formalize the Reverse BO-TMA, and solve it through least squares optimization. Numerical results show that the Reverse BO-TMA provides accurate localization performance that can greatly increase the accuracy of AUV navigation during long term deployments.
AB - We present a partial observable, non-linear solution for AUV aided navigation, referred as the Reverse Bearing Only Target Motion Analysis (Reverse BO-TMA). Reverse BO-TMA utilizes information about the course and speed of a passing vessel to provide a passive method for self localization of an Autonomous Underwater Vehicle (AUV). In Reverse BO-TMA, the AUV relies on radiated noise from the vessel to measure the bearing to the target vessel. Compared to traditional range-based localization methods, Reverse BO-TMA is a fully passive method that allows the AUV to remain farther from the anchor and does not require collaboration or message exchange in the form of time-synchronization between the AUV and the vessel. We formalize the Reverse BO-TMA, and solve it through least squares optimization. Numerical results show that the Reverse BO-TMA provides accurate localization performance that can greatly increase the accuracy of AUV navigation during long term deployments.
UR - http://www.scopus.com/inward/record.url?scp=85015221053&partnerID=8YFLogxK
U2 - 10.1109/WPNC.2016.7822842
DO - 10.1109/WPNC.2016.7822842
M3 - Conference contribution
T3 - Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016
BT - Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th Workshop on Positioning, Navigation and Communication, WPNC 2016
Y2 - 19 October 2016 through 20 October 2016
ER -