Underwater acoustic positioning system design for shallow water depth application

Abstract

This paper describes the design and implementation of practical underwater positioning system which is applicable for shallow water depth condition. In this paper, two strategies are taken to enhance the navigation per-formance. Firstly, the low cost acoustic ranging based precise navigation solution for shallow water is designed. Secondly, the outlier rejection algorithm is introduced by design velocity gate. The acoustic ranging based navigation is implemented by modifying the long base line solution. To enhance the tracking precision, outlier rejection algorithm is introduced. The performance of developed approach is evaluated with experiments. The results demonstrate that precise shallow water depth navigation can be implemented by suggested approaches., the low cost acoustic ranging based precise navigation solution for shallow water is designed. Secondly, the outlier rejection algorithm is introduced by design velocity gate. The acoustic ranging based navigation is implemented by modifying the long base line solution. To enhance the tracking precision, outlier rejection algorithm is introduced. The performance of developed approach is evaluated with experiments. The results demonstrate that precise shallow water depth navigation can be implemented by suggested approaches.