Accuracy Assessment of the Positioning of a Swarm of Underwater Vehicles in Relation to Four Surface Vehicles Using the TDOA Method

Abstract

This paper presents the results of research on the accuracy assessment of the positioning of a swarm of underwater vehicles based on hydroacoustic measurements made with respect to four surface vehicles under the time difference of arrival (TDOA) method. The assessment consisted of the estimation of accuracy parameters for determining the position of an underwater vehicle in relation to surface vehicles forming a so-called moving geometrical measurement structure (MGMS) in the following shapes: square, rectilinear, triangular, and three-pointed. This demonstrated that MGMS makes it possible to estimate the relative position of underwater vehicles in a swarm with an accuracy of 2.1 m (RMS) over an area of approx. 1000 m2 and approx. 3.0 m (RMS) over an area of approx. 1600 m2. The most favourable MGMS shapes include three-pointedwhile maximising the size of the positioning area, where the positioning accuracy should not exceed 3.0 m (RMS)—and rectilinear—while maximising the size of the positioning area, where the positioning accuracy should not exceed 10.0 m (RMS).

Keywords

• hyperbolic hydroacoustic positioning system
• swarm positioning of underwater vehicles
• positioning method relative to surface vehicles
• accuracy of underwater vehicle swarm position estimation