A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy

Talmon Alexandri; Roee Diamant

doi:10.1109/WPNC.2016.7822842

A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy

Talmon Alexandri, Roee Diamant

Department of Marine Technologies

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We present a partial observable, non-linear solution for AUV aided navigation, referred as the Reverse Bearing Only Target Motion Analysis (Reverse BO-TMA). Reverse BO-TMA utilizes information about the course and speed of a passing vessel to provide a passive method for self localization of an Autonomous Underwater Vehicle (AUV). In Reverse BO-TMA, the AUV relies on radiated noise from the vessel to measure the bearing to the target vessel. Compared to traditional range-based localization methods, Reverse BO-TMA is a fully passive method that allows the AUV to remain farther from the anchor and does not require collaboration or message exchange in the form of time-synchronization between the AUV and the vessel. We formalize the Reverse BO-TMA, and solve it through least squares optimization. Numerical results show that the Reverse BO-TMA provides accurate localization performance that can greatly increase the accuracy of AUV navigation during long term deployments.

Original language	English
Title of host publication	Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509054404
DOIs	https://doi.org/10.1109/WPNC.2016.7822842
State	Published - 17 Jan 2017
Event	13th Workshop on Positioning, Navigation and Communication, WPNC 2016 - Bremen, Germany Duration: 19 Oct 2016 → 20 Oct 2016

Publication series

Name	Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016

Conference

Conference	13th Workshop on Positioning, Navigation and Communication, WPNC 2016
Country/Territory	Germany
City	Bremen
Period	19/10/16 → 20/10/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

ASJC Scopus subject areas

Computer Networks and Communications
Instrumentation
Control and Systems Engineering

Access to Document

10.1109/WPNC.2016.7822842

Cite this

Alexandri, T., & Diamant, R. (2017). A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy. In Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016 Article 7822842 (Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WPNC.2016.7822842

Alexandri, Talmon ; Diamant, Roee. / A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy. Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. (Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016).

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abstract = "We present a partial observable, non-linear solution for AUV aided navigation, referred as the Reverse Bearing Only Target Motion Analysis (Reverse BO-TMA). Reverse BO-TMA utilizes information about the course and speed of a passing vessel to provide a passive method for self localization of an Autonomous Underwater Vehicle (AUV). In Reverse BO-TMA, the AUV relies on radiated noise from the vessel to measure the bearing to the target vessel. Compared to traditional range-based localization methods, Reverse BO-TMA is a fully passive method that allows the AUV to remain farther from the anchor and does not require collaboration or message exchange in the form of time-synchronization between the AUV and the vessel. We formalize the Reverse BO-TMA, and solve it through least squares optimization. Numerical results show that the Reverse BO-TMA provides accurate localization performance that can greatly increase the accuracy of AUV navigation during long term deployments.",

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doi = "10.1109/WPNC.2016.7822842",

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Alexandri, T & Diamant, R 2017, A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy. in Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016., 7822842, Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016, Institute of Electrical and Electronics Engineers Inc., 13th Workshop on Positioning, Navigation and Communication, WPNC 2016, Bremen, Germany, 19/10/16. https://doi.org/10.1109/WPNC.2016.7822842

A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy. / Alexandri, Talmon; Diamant, Roee.
Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. 7822842 (Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Alexandri T, Diamant R. A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy. In Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016. Institute of Electrical and Electronics Engineers Inc. 2017. 7822842. (Proceedings of the 2016 13th Workshop on Positioning, Navigation and Communication, WPNC 2016). doi: 10.1109/WPNC.2016.7822842

A reverse bearings only target motion analysis (BO-TMA) for improving AUV navigation accuracy

Abstract

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Bibliographical note

ASJC Scopus subject areas

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