乐胖代购免代理版

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The present state\u2010of\u2010the\u2010art in CAN is to utilize one\u2010way travel\u2010time\u00a0acoustic modem telemetry together with purely kinematic, constant\u2010velocity plant process models. We term this approach CAN\u2010KIN. At present, CAN\u2010KIN is utilized with an on\u2010board bottom\u2010lock Doppler velocity log (DVL) providing frequent, high\u2010accuracy velocity corrections. However, DVLs are relatively expensive, have significant power requirements, can be physically large, and have limited acoustic bottom\u2010lock range, which restricts their use to a maximum of 25\u2013420\u2009m above the sea floor. In this study, we investigate the utility of a second\u2010order dynamic UV plant process model in CAN of UVs equipped with an acoustic modem, attitude, and depth sensors, but lacking a DVL, and a surface ship equipped with an acoustic modem and global positioning system. We term CAN utilizing a dynamic model CAN\u2010DYN. This paper reports results from at\u2010sea field trials conducted in the Chesapeake Bay with the Johns Hopkins University Iver3 UV. These experimental results indicate the submerged UV position estimate from CAN\u2010KIN is poor and even unstable in the absence of DVL velocity observations. These field experimental results also show that CAN\u2010DYN performs well without a DVL. Our results suggest CAN\u2010DYN without a DVL does not exhibit instability as does CAN\u2010KIN without a DVL, performs similarly to CAN\u2010KIN with a DVL, and outperforms DVL\u2010based dead reckoning. Additionally, we report an experimental evaluation of the effect of adding (relative) velocity corrections in the form of acoustic range\u2010rate observations to CAN utilizing a dynamic model without a DVL. We conclude that the addition of infrequent velocity observations, such as those provided by acoustic range rate, does not appear to improve the performance of CAN\u2010DYN without a DVL.<\/jats:p>","DOI":"10.1002\/rob.22008","type":"journal-article","created":{"date-parts":[[2021,1,13]],"date-time":"2021-01-13T13:39:13Z","timestamp":1610545153000},"page":"700-726","update-policy":"http:\/\/dx.doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Cooperative acoustic navigation of underwater vehicles without a DVL utilizing a dynamic process model: Theory and field evaluation"],"prefix":"10.1002","volume":"38","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-5498-301X","authenticated-orcid":false,"given":"Zachary J.","family":"Harris","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Johns Hopkins University Baltimore Maryland USA"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-2398-1000","authenticated-orcid":false,"given":"Louis L.","family":"Whitcomb","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Johns Hopkins University Baltimore Maryland USA"}]}],"member":"311","published-online":{"date-parts":[[2021,1,8]]},"reference":[{"key":"e_1_2_8_2_1","unstructured":"Alleyne J.(2000).Position estimation from range only measurements\u00a0(Master's thesis).\u00a0Naval Postgraduate School Monterey CA."},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.3390\/s131216191"},{"key":"e_1_2_8_4_1","unstructured":"Baccou P. &Jouvencel B.(2002). 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