One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys

抄録

This study proposes a simultaneous localization method of a group of autonomous underwater vehicles (AUVs) based on one-way signals to realize distributed oceanographic surveys. Each AUV group consists of a single high-performance AUV (parent AUV) and the other AUVs (child AUVs). The child AUVs estimate their states (position and heading) based on the parent AUV as a positioning reference. By assuming a situation in which many AUV groups are deployed, the child AUVs can receive positioning signals from multiple parent AUVs. Although only the direction information of the parent AUV can be obtained from a signal from one parent AUV, the child AUVs can estimate their states by receiving signals from different parent AUVs. Sea experiments were conducted using an autonomous buoy and an AUV. The effectiveness of the proposed method was evaluated through a navigation simulation based on the sensor data obtained from the experiments.