Modeling a High-Precision Positioning Algorithm for Acoustic Positioning System

摘要

The paper deals with the peculiarities of building long-base line acoustical positioning systems (LBL APS). The analysis of possible architectures of construction of navigation systems is carried out: TOF, TOA, TDOA, RTDOA. It is shown that for the tasks of groups of autonomous underwater vehicles (AUV) coordinates estimation the use of query architectures is limited due to the impossibility of simultaneous maintenance of a large number of objects. On the other hand, it is shown that the TOF architecture provides greater accuracy in determining the coordinates of AUV in view of the lower value of the Dilution of Precision (DOP) value in the working area. The use of TOA method of determining the coordinates instead of the classical TDOA one is justified. The peculiarity of this method is to improve the accuracy of determining the coordinates by estimating and filtering the time of transmission of the navigation signal. Modeling was carried out for the purpose of AUV positioning accuracy estimation.