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Positioning Method for an AUV in Arctic Seawater Based on Polarization

机译:基于极化的北极海水水下机器人定位方法

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摘要

In this letter, a positioning method for an autonomous underwater vehicle (AUV) in the Arctic that uses an electromagnetic field is studied. The method uses the direction-of-arrival (DOA) triangulation based on the polarization of the near field of three positioning nodes. The positioning nodes each transmit a monochromatic wave with a different frequency. The AUV can obtain the polarized field, and then estimate its position through a comparison of the different components of the field. The positioning error caused by the measurement error of the different components of the field has been analyzed, and numerical simulations are in an agreement with the analysis. The positioning error caused by the fluctuation of the sea surface has also been analyzed. The results show that triangulation with a polarization-based DOA can be used for the positioning of an AUV in the Arctic seawater.
机译:在这封信中,研究了一种使用电磁场的北极无人水下航行器(AUV)的定位方法。该方法基于三个定位节点近场的极化使用到达方向(DOA)三角剖分。定位节点各自发送具有不同频率的单色波。 AUV可以获取极化场,然后通过比较场的不同分量来估计其位置。分析了由该领域的不同部分的测量误差引起的定位误差,并且数值模拟与分析相符。还分析了由海面波动引起的定位误差。结果表明,基于极化的DOA的三角剖分可用于在北极海水中定位AUV。

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