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Improving Acoustic Range-Only Localisation by Selection of Transmission Time

机译：通过选择传输时间改善仅声学范围的本地化

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This work looks at when to transmit localisation messages in the scenario where an Autonomous Surface Vehicle (ASV) has a planned path and can estimate a submerged AUV's positions based on acoustic updates. Acoustic localisation messages are in general transmitted periodically, but by estimating the movement of the involved vehicles, messages can be transmitted at a time when the geometrical relationship between vehicles should reduce the receiving vehicles error and uncertainty to the greatest extent. This paper looks at how selection of Time of Launch (ToL) within a Time-Division Multiple Access slot can reduce this based on history of transmission and the estimated geometrical relationship between vehicles over time. The method to select ToL is dependent on the localisation method, we look at this from the perspective of Extended Kalman Filter and to solve the trilateration problem using Non-linear Least Squares. The benefit of proposed approach is in scenarios where the operating vehicles have their own objectives, and cannot adapt their path to achieve a more beneficial transmission position. The proposed approach shows a reduction of error and uncertainty, while using a navigational dataset collected by an Autonomous Underwater Vehicle when compared to other methods of which transmission times are selected.
机译：这项工作何时何时在自主表面车辆（ASV）具有计划路径的情况下在场景中传输定位消息并且可以基于声学更新来估计淹没的AUV位置。声学定位消息通常周期性地传输，而是通过估计所涉及的车辆的运动，可以在车辆之间的几何关系应该在最大程度上减少接收车辆的几何关系时的时间传送消息。本文探讨了在时分多通道插槽中选择的发射时间（tol）的选择可以基于传输历史和随着时间的推移车辆之间的估计几何关系来减少这一点。选择tol的方法取决于本地化方法，我们从扩展卡尔曼滤波器的角度看，通过非线性最小二乘来解决三边问题。建议方法的好处是在操作车辆具有自己的目标的情况下，不能调整他们的路径来实现更有益的传输位置。所提出的方法显示出误差和不确定性的降低，同时与自主水下车辆收集的导航数据集与选择传输时间的其他方法相比。

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