Abstract
In principle, a DVL utilizes multi-beam measurements to calculate its three-dimensional translational velocity. In traditional DVL dead-reckoning navigation method, the calculated velocity is used as the AUV body frame velocity. This work proposes a novel DVL dead-reckoning navigation method in which DVL beam measurements are directly used for dead-reckoning navigation without being transformed into the AUV body frame velocity. Furthermore, the fault-tolerant strategies for situations under the constraint of incomplete DVL beam measurements are presented. In these situations, the DVL does not have sufficient (three or more) beam measurements to calculate the AUV body frame velocity, resulting in the traditional DVL dead-rocking method unusable. In contrast, the proposed method can maintain high-precision navigation with at least one beam measurement, thereby enhancing the robustness and reliability of the DVL dead-reckoning navigation system. Experiment results verify the effectiveness of the proposed method.
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Liu, P., Hou, D., Wang, K., Wang, B. (2022). DVL Dead-Reckoning Navigation Method Based on Beam Measurements. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_104
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DOI: https://doi.org/10.1007/978-981-15-8155-7_104
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