High-Precision Underwater Acoustic Localization of the Black Box Utilizing an Autonomous Underwater Vehicle Based on the Improved Artificial Potential Field

Underwater acoustic localization (UWAL) of the black box for a sunken airplane utilizing an autonomous underwater vehicle (AUV) is a useful technique in ensuring traffic safety. Aiming at improving localization precision, this article proposes a new path-planning algorithm based on the improved artificial potential field (APF). Compared with the conventional APF, we modify the conventional gravitation force and introduce a new localization precision force. Therefore, a balance between localization precision and obstacle avoidance is achieved, and the localization precision is significantly improved. The lake trial result validates the effectiveness of the proposed method.

Automated summary

This article proposes a new path-planning algorithm based on the improved artificial potential field (APF) to improve the localization precision of underwater acoustic localization (UWAL) for a sunken airplane. By modifying the conventional gravitation force and introducing a new localization precision force, a balance between localization precision and obstacle avoidance is achieved, resulting in significantly improved localization precision. The effectiveness of the proposed method is validated through lake trial results.