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Multi-Sensor Collaborative Positioning in Range-Only Single-Beacon Systems: A Differential Chan-Gauss-Newton

Yun Ye1, Hongyang He1, Enfan Lin2

  • 1School of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China.

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|April 26, 2025
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Summary
This summary is machine-generated.

This study introduces a new underwater navigation method for autonomous underwater vehicles (AUVs) using a single beacon and multiple sensors. The approach enhances positioning accuracy and speed, offering a cost-effective solution for AUV navigation.

Keywords:
Gauss–Newton algorithmmultiple sensorsunderwater navigationunderwater virtual beacon

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Area of Science:

  • Robotics
  • Oceanography
  • Navigation Systems

Background:

  • Traditional Long Baseline (LBL) systems for autonomous underwater vehicles (AUVs) require extensive beacon deployment and calibration.
  • Range-Only Single-Beacon (ROSB) positioning offers a more efficient alternative but faces challenges with weak observations and limited prior data in open-ocean environments.

Purpose of the Study:

  • To develop a robust and accurate underwater localization framework for AUVs using a single beacon and multi-sensor data.
  • To address the limitations of existing ROSB methods in challenging open-ocean navigation scenarios.

Main Methods:

  • A multi-sensor underwater virtual beacon localization framework was established.
  • A differential Chan-Gauss-Newton (DCGN) methodology was proposed, integrating inertial navigation with single-beacon range measurements and data from Doppler Velocity Log (DVL) and pressure sensors.
  • The method utilizes multiple hypotheses to discriminate initial positions for improved accuracy.

Main Results:

  • The proposed DCGN method significantly enhances positioning accuracy and convergence speed for submerged vehicles.
  • Simulation experiments and lake tests validated the high reliability and performance of the developed localization framework.
  • The system demonstrated superior performance compared to traditional methods, reducing deployment time and workload.

Conclusions:

  • The multi-sensor virtual beacon localization framework with the DCGN method provides a highly accurate and reliable solution for AUV navigation.
  • This approach offers a cost-effective and efficient alternative for underwater high-precision navigation applications.
  • The findings have significant implications for the future development and deployment of autonomous underwater vehicles.