Accuracy Analysis of Active Sonar Navigation for Different Underwater Beacon Configurations
The number of seafloor acoustic navigation beacons determines the solvability of acoustic navigation.For example,when using a single seafloor acoustic beacon for navigation,it is necessary to integrate information such as the ve-hicle's heading or attitude.The precision level of active sonar navigation system under varying numbers of seafloor acoustic navigation beacons is explored using vehicle state estimation model within a sliding window.Designing a simulation experi-ment to analyze the navigation accuracy of an active-sonar navigation model as the number of seafloor acoustic navigation beacons increased from one to four.The results obtained from the simulation experiment are further validated using actual measured data which show that:the accuracy of the active sonar navigation is directly proportional to the number of observa-ble seafloor acoustic navigation beacons.When there are four beacons,the decrease in accuracy caused by reducing the number of beacons is within 1 m.However,the accuracy significantly decreases when there is only a single beacon,but the navigation accuracy can still be maintained within 10 m.
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