Journal
IEEE NETWORK
Volume 35, Issue 2, Pages 222-228Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/MNET.011.2000443
Keywords
Underwater vehicles; Marine equipment; Micromechanical devices; Satellite navigation systems; Sea surface; Monitoring
Categories
Funding
- National Key Research and Development Program of China [2018YFC0407900]
- National Natural Science Foundation of China [61971206, 41976182]
- Open Fund of the State Key Laboratory of Acoustics [SKLA201901]
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This study proposes a cooperative navigation system based on light marine equipment to address technical challenges, ensuring low-cost, long-endurance navigation in the deep sea. Through deep integration of each light marine equipment, accurate navigation can be achieved.
Low-cost, long-endurance navigation is a crucial universal supporting technology for long-range underwater vehicles while entering, exploring, and developing the deep sea. To overcome the limitations of existing navigation systems (e.g., high cost and unsuitability for long-endurance operation), this study proposes a cooperative navigation system based on light marine equipment such as wave glider, underwater acoustic communication modem (UACM), and micro-electro-mechanical system (MEMS) sensor. The focus was to resolve the crucial technical problems faced by the above mentioned light marine equipment during deep integration. First, the wave glider path planning based on deep reinforcement learning is studied to ensure continuous and reliable information interaction between the wave glider and underwater vehicle. Second, underwater acoustic communication one-way ranging based on a sound velocity profile (SVP) coupling model and a constant gradient SVP fast algorithm is studied to achieve fast and accurate estimation of the horizontal range between the wave glider and underwater vehicle. Finally, UACM-MEMS sensor cooperative navigation based on decision feedback-denoising auto-encoding and adaptive Kalman filter is studied to ensure the accuracy of navigation. Through deep integration of each light marine equipment, low-cost, long-endurance cooperative navigation can be realized in the deep sea.
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