Sensors: The Positioning Accuracy of BAUV Using Fusion of Data From USBL System and Movement Parameters Measurements

sensors
Article
The Positioning Accuracy of BAUV Using Fusion of
Data from USBL System and Movement
Parameters Measurements
Naus Krzysztof 1, * and Nowak Aleksander 2
1 Faculty of Navigation and Naval Weapons, Polish Naval Academy, Smidowicza 69, Gdynia 81-103, Poland
2 Faculty of Civil and Environmental Engineering, Department of Geodesy, Gdansk University of Technology,
Narutowicza 11/12, Gdansk 80-233, Poland; aleksander.nowak@geodezja.pl
* Correspondence: knaus@wp.pl; Tel.: +48-883-911-654
Academic Editors: Xue-Bo Jin, Feng-Bao Yang, Shuli Sun and Hong Wei
Received: 16 May 2016; Accepted: 2 August 2016; Published: 15 August 2016
Abstract: The article presents a study of the accuracy of estimating the position coordinates of
BAUV (Biomimetic Autonomous Underwater Vehicle) by the extended Kalman filter (EKF) method.
The fusion of movement parameters measurements and position coordinates fixes was applied.
The movement parameters measurements are carried out by on-board navigation devices, while
the position coordinates fixes are done by the USBL (Ultra Short Base Line) system. The problem
of underwater positioning and the conceptual design of the BAUV navigation system constructed
at the Naval Academy (Polish Naval Academy—PNA) are presented in the first part of the paper.
The second part consists of description of the evaluation results of positioning accuracy, the genesis of
the problem of selecting method for underwater positioning, and the mathematical description of the
method of estimating the position coordinates using the EKF method by the fusion of measurements
with on-board navigation and measurements obtained with the USBL system. The main part contains
a description of experimental research. It consists of a simulation program of navigational parameter
measurements carried out during the BAUV passage along the test section. Next, the article covers
the determination of position coordinates on the basis of simulated parameters, using EKF and
DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy.
The final part contains systemic conclusions justifying the desirability of applying the proposed
fusion method of navigation parameters for the BAUV positioning.
Keywords: underwater positioning; estimation of coordinates; autonomous biomimetic

underwater vehicle
1. Introduction
Determining the position coordinates with high accuracy during the process of conducting marine
underwater navigation is becoming a significant problem. This is mainly due to the fact that the Global
Navigational Satellite System (GNSS) cannot be used. Sometimes using satellite navigation during
emersion could be also difficult, especially in port areas, where infrastructure facilities and other vessels
can block and reflect navigation signals [1,2]. Due to these difficulties, it becomes necessary to use
dedicated navigation systems (NS) in such cases [3–10]. These dedicated navigation systems generally:
• use devices to carry out navigational parameter measurements in water, such as log, hydrostatic
pressure sensor, or echo-sounder,
• estimate the position coordinates as a result of the fusion of various navigational parameters,
e.g., speed with course or submergence [11–20].
Sensors 2016, 16, 1279; doi:10.3390/s16081279 www.mdpi.com/journal/sensors

Sensors 2016, 16, 1279 2 of 23
• estimate
Sensors the
position coordinates as a result of the fusion of various navigational parameters,
2016, 16, 1279 2 of 23
e.g., speed with course or submergence [11–20].
In the
In thecase
caseofofBAUV,
BAUV, a selection
a selection of devices
of devices andand methods
methods for determining
for determining the position
the position can becan
madebe
made dependent on the parameters of its operation, shape, and size of the hull (construction),
dependent on the parameters of its operation, shape, and size of the hull (construction), and type of and
type of propulsion
propulsion used. used.
A BAUV, imitatingfish
A BAUV, imitating fishin
in terms
terms of
of the
the design
design and
and movement,
movement, is is currently
currently being
being prepared
prepared at
at the
the
Polish Naval Academy (PNA) (Figure
Polish Naval Academy (PNA) (Figure 1). 1).
Figure 1. Side
Figure 1. Side view
view of
of 3D
3D model
model of
of the
the BAUV
BAUV built
built in
in Polish
Polish Naval
Naval Academy
Academy (3D
(3D design
design by
by Bogdan
Bogdan
Szturomski) [9].
Szturomski) [9].
Starting from
Starting from the
the bow
bow to
to the
the tail
tail fin,
fin,the
theBAUV
BAUVconsists
consistsof
ofthe
thefollowing
followingmodules
modules[9]:
[9]:
•• module with
module with camera
camera and
and “looking”
“looking” forward
forwardecho
echosounder
sounder(“wet”
(“wet”compartment),
compartment),
•• module of the sensors (in the upper part: USBL, hydro modem and “looking” up
module of the sensors (in the upper part: USBL, hydro modem and “looking” up echo
echo sounder;
sounder;
in the bottom part: sonar and “looking” down echo sounder—“wet” compartment),
in the bottom part: sonar and “looking” down echo sounder—“wet” compartment),
•• module of the lateral fins (“dry” compartment),
module of the lateral fins (“dry” compartment),
• module of electronics and batteries (the batteries located in the bottom part, which can move
• module of electronics and batteries (the batteries located in the bottom part, which can move along
along the longitudinal axis of the vehicle giving the possibility of trimming; two computers
the longitudinal axis of the vehicle giving the possibility of trimming; two computers PC-104 and
PC-104 and power management system mounted in the upper part—the whole compartment is
power management system mounted in the upper part—the whole compartment is “dry”),
“dry”),
• module of the caudal fin consisting of two segments (the tail fin driven by an electric motor with
• module of the caudal fin consisting of two segments (the tail fin driven by an electric motor
nominal power 250 W, rotary motion converted into an oscillating motion).
with nominal power 250 W, rotary motion converted into an oscillating motion).
The
The range
range of
of swimming
swimming is is designed
designed for
for about
about 22 nautical
nautical miles
miles and
and assumed
assumed optimum
optimum cruise
cruise
speed
speed is around 1 m/s (2 knots). The swimming range is an important operating parameter and itit is
is around 1 m/s (2 knots). The swimming range is an important operating parameter and is aa
determining factor in the construction of the designed
determining factor in the construction of the designed NS. NS.
Several NS variants
Several NS variantshave
havebeen
beendesigned
designed forfor
thethe conceptual
conceptual stage
stage of BAUV.
of the the BAUV.
TheyThey
differdiffer
from
from each other, mainly in applied navigation devices and in algorithms of the position
each other, mainly in applied navigation devices and in algorithms of the position coordinates coordinates
estimation. Theconceptual
estimation. The conceptualNS NSdescribed
describedininthis
this publication
publication consists
consists of components
of components installed
installed on
on the
the BAUV:
BAUV:
•• GPS
GPS Aided
Aided Inertial
Inertial Navigation
Navigation System
System (GPS/INS)
(GPS/INS) “VN-200” [21]—due to the the operating
operating
environment, it is not possible to use GPS, therefore this subsystem is referred
environment, it is not possible to use GPS, therefore this subsystem is referred to to as INS “VN-200”
as INS
in subsequent
“VN-200” parts of thisparts
in subsequent article,
of this article,
•• “ALIZE” electro-magnetic
“ALIZE” electro-magnetic loglog [22],
[22],
•• ”WIKA S-20”
”WIKA S-20” hydrostatic
hydrostatic pressure
pressuresensor
sensor[23],
[23],
•• USBL “MicronNav System” transponder system
USBL “MicronNav System” transponder system [24], [24],
•• “MICRON DATA
“MICRON DATAMODEM”
MODEM”slave slavehydromodem
hydromodem[25], [25],
and components located on the seabed:
and components located on the seabed:
• USBL “MicronNav System” transceiver system,
• USBL “MicronNav System” transceiver system,
• “MICRON DATA MODEM” master.
• “MICRON DATA MODEM” master.
The USBL system will be dedicated to measure the approximate position coordinates (sending
The
to the USBL by
BAUV system will be dedicated
hydromodem). to measure
The INS the will
“VN-200” approximate
measureposition coordinates
the course, (sending
while the to
log will
the BAUV by hydromodem). The INS “VN-200” will measure the course, while the log will measure
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measure speed, and the pressure sensor will be used to submergence determination. These
speed, and the pressure sensor will be used to submergence determination. These parameters will
parameters will then be used to estimate submerged BAUV position by the extended Kalman filter.
then be used to estimate submerged BAUV position by the extended Kalman filter. The BAUV moves
The BAUV moves using wave motion.
using wave motion.
The NS constructed in this way will be subject to a comparative evaluation of the dead
The NS constructed in this way will be subject to a comparative evaluation of the dead reckoning
reckoning NS (that uses only the course and speed measurement), and the NS based only on the
NS (that uses only the course and speed measurement), and the NS based only on the USBL system.
USBL system. The basic criterion for this assessment is the accuracy of the estimated position
The basic criterion for this assessment is the accuracy of the estimated position coordinates.
coordinates.
2. Evaluation of the Accuracy of Determining the Position Coordinates Using the USBL System
2. Evaluation of the Accuracy of Determining the Position Coordinates Using the USBL System
Determining the horizontal coordinates using USBL system is based on the measurement of
Determiningdirection
two parameters: the horizontal
α (yaw)coordinates using between
and the distance USBL system is based on
the Transceiver thethe
and measurement
Transponderofr
two parameters:
(Figure 2). direction α (yaw) and the distance between the Transceiver and the Transponder
(Figure 2).
Figure 2. The
The principle
principle of determining the horizontal coordinates ((x,, y)) using
of determining using USBL
USBL system.
system.
The mean error and the mean error ellipse (i.e., the length of the a and b axes) of
The mean error Mxy and the mean error ellipse (i.e., the length of the a and b axes) of determined
determined horizontal coordinates ( , ) using the USBL system can be calculated by applying the
horizontal coordinates ( x, y) using the USBL system can be calculated by applying the law of mean
law of mean errors propagation [26–28]. Knowing the functions of the individual test result:
errors propagation [26–28]. Knowing the functions of the individual test result:
= arc tgx (1)
α = arc tg (1)
y
=q + (2)
r= x 2 + y2 (2)
the equations of position lines mean error can be represented by:
the equations of position lines mean error can be represented by:
 () = s 2 + 2 (3)

∂α ∂α
σl (α) = σα / + (3)
∂x ∂y
 ( ) = s 2 + 2 (4)
∂r ∂r
σl (r) = σr / + (4)
∂x ∂y
that enables determination of:
that enables determination of:
=  () +  ( ) = q( ∙ ) +  (5)
1 q
Mxy = σl (α) 2 + σl (r) 2 = (σα ·r )2 + σr 2 (5)
sinθ
=  ∙ (6)
a = σα ·r (6)
= (7)
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where —the
where —the intersection
intersection angle
angle of
of the
the position
positionb =lines.
lines.
σr In the
In the case
case of
of USBL
USBL itit always
always equals
equals 90°;(7)
90°;
—α
—α (yaw)
where
(yaw) mean
mean measurement
θ—the intersection
error;  —
measurement error;
angle of the position
— (distance)
(distance) mean
lines. In the case
mean measurement
measurement error; —distance
of USBL it alwayserror;
—distance
equals 90◦ ; σα —α
between the
between the Transceiver
Transceiver and
and Transponder;
Transponder; —the —the length
length of of the
the major
major axis
axis of
of the
the mean
mean error
error ellipse;
ellipse;
(yaw) mean measurement error; σr —r (distance) mean measurement error; r—distance between the
—the length
—the length of the minor
of Transponder; axis of
the minor axisa—the the mean
of thelength error
mean error ellipse.
Transceiver and of theellipse.
major axis of the mean error ellipse; b—the length
Based on
Based on the
the dependence
dependence Equation
Equation (5),
(5), information
information provided
provided by by the
the manufacturer,
manufacturer, and
and thethe
of the minor axis of the mean error ellipse.
values of
values of the
the mean
mean errors
errors of measurement,  =
of measurement, 3° i·i· =
= 3° = 0.2
0.2 m,
m, an
an area
area map
map has
has been
been compiled
compiled on on
Based on the dependence Equation (5), information provided by the manufacturer, and the values
the
the accuracy
accuracy of position
of position coordinates,
coordinates, determined
determined by the
by m, Tritech
theanTritech USBL
USBL “MicronNav System”
of the mean errors of measurement, σα = 3◦ i·σr = 0.2 area map has “MicronNav
been compiled System”
on the
(Figure 3)
(Figure 3) [24].
[24].
accuracy of position coordinates, determined by the Tritech USBL “MicronNav System” (Figure 3) [24].
Figure 3.
Figure 3. Mapping the accuracy
Mapping the accuracy of
of the
the coordinate
coordinate position
position of
of determined
determined USBL
USBL system
system (describes
(describes
mean error
mean error Mxy in
inmeters).
in meters).
meters).
Figure 333 shows

Figure
Figure shows that
shows that the
that the mean
the mean errors
mean errors of
errors of position
of position coordinate
position coordinate increases
coordinate increases with
increases with the
with the measured
the measured
measured
distance. It
distance.
distance. ItIt reaches
reaches 26.2
reaches 26.2 m
26.2 m at
at aaa distance
m at distance of
distance of 500
of 500 m.
500 m. This
m. This is
This is the
is the distance limit
the distance
distance limit at
limit at which
at which the
which the USBL
the USBL
USBL
“MicronNav
“MicronNav System”
System” can
can work
work
“MicronNav System” can work [24]. [24].
[24].
Figure 444shows
Figure
Figure showsthe
shows themean
the meanerror
mean errorellipse
error ellipseofof
ellipse ofposition
positioncoordinates
position coordinates
coordinates determined
determined
determined in
inin the
thethe same
same
same direction,
direction,
direction, in
in
in one
one hundred
hundred meter
meter intervals.
intervals.
one hundred meter intervals.
Figure 4.
Figure Changing the
4. Changing the parameters
parameters of
of the
the mean error ellipse
mean error
error ellipse as
ellipse as aaa function
as function of
function of measured
of measured distance.
measured distance.
distance.
It shows
It
It shows clearly
shows clearly that
clearly that the
thatthe coordinate
thecoordinate error
coordinateerror increases
errorincreases substantially
increasessubstantially
substantially inin
in aa perpendicular
perpendicular
a perpendicular direction
direction to
to
direction
thethe
the
to measurement
measurement
measurement direction
direction
direction with
with
withincreasing
increasing distance.
increasingdistance. However,
However,itititis
distance.However, isisconstant
constant in
constantin direction
in direction of the
direction of
of the
the
measurement
measurement being carried
being carried
measurement being out,
carried out, and
out, and is
and is only
is only 0.2
only 0.2 m.
0.2 m.
m.
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3. Evaluating the Accuracy of Determining the Position Coordinates Using Dead Reckoning
If the impact of current, drift, and waving of sea on the BAUV movement can be avoided, the
only sources of errors are the devices used to dead reckoning. In the case of the BAUV, these are the
Inertial Navigation System, INS “VN-200”, which determines course over ground (COG) [21] and the
electromagnetic log “ALIZE”, which determines speed through water (STW). In this case, the STW is
equal to the speed over ground (SOG) [22].
By measuring using these devices COG (k), SOG (k) at the time of (k ), vector
xh of horizontal coordinates and their accuracy can be calculated for the time (k + 1).
Functions f (xh (k) , uh (k) , wh (k)) can be used for this purpose describing the non-linear BAUV
movement model:
" # " # " # " #
f x ( k + 1) x (k) ∆t (k) ·SOG (k) ·sinCOG (k) wx ( k )
xh (k + 1) = = + + (8)
f y ( k + 1) y (k) ∆t (k) ·SOG (k) ·cosCOG (k) wy ( k )
where x (k) , y (k)—dead reckoned horizontal coordinates of BAUV position at the time of k;
COG (k)—the BAUV course over ground at the time of k; SOG (k)—the BAUV speed over ground
at the time of k; ∆t (k)—duration between the time of k and k + 1; wx (k ) , wy (k)—the so-called
intentional interference in determining the coordinates at the time of k (expressed as a zero mean
normal distribution N[0, 1]); and calculated on the basis of Equation (8) the covariance matrix
P (k + 1) = Fx (k + 1) P (k ) Fx (k + 1)T + Q (k ) (9)
 
∂ fx ∂ fx " #
∂x ∂y 1 0
here: Fx (k + 1) =  ∂ fy ∂ fy
= —the so-called matrix system is calculated as Jacobian
0 1
∂x ∂y
matrix from the function f (x (k) , u (k) , 0); P (k)—the covariance matrix, determined at the time of k.
" ∂ fx ∂ fx
#" #" ∂ fx ∂ fx
#T
σCOG 2 0
Q (k) = ∂COG
∂ fy
∂SOG
∂ fy
∂COG
∂ fy
∂SOG
∂ fy
0 σSOG 2
∂COG ∂SOG ∂COG ∂SOG
σCOG —the course over ground mean measurement error; σSOG —the speed over ground mean
measurement error.
Knowing the covariance matrix of initial (the previous) position coordinates P(k) and the
covariance matrix of the vector of growth coordinates P(k + 1/1), taking into account the errors
resulting from the operation of dead reckoning navigation, the covariance matrix of the coordinates of
the current BAUV position can be determined
P (k + 1) = P (k ) + P (k + 1/1) (10)
where " #
σx 2 σxy
P ( k + 1) =
σyx σy 2
σx 2 = ∆t2 · (SOG (k) ·σCOG ·cosCOG (k))2 + ∆t2 · (σSOG ·sinCOG (k))2
σy 2 = ∆t2 · (SOG (k) ·σCOG ·sinCOG (k ))2 + ∆t2 · (σSOG ·cosCOG (k ))2

σxy = σyx = ∆t2 ·sin (2·COG (k)) · σSOG 2 − (SOG ·σCOG )2 /2
Using this matrix, in turn, the mean error of coordinates can easily be calculated
q
Mxy = σx 2 + σy 2 (11)
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and the parameters of the mean error ellipse:

1
=r ∙  +  + (12)
2
1 √
a= · σx 2 + σy 2 + p (12)
2
1
= 1 ∙  +  −√
r (13)
b = 2 · σx 2 + σy 2 − p (13)
2
1 2
= 1  arc tg 2σxy (14)
τ = 2 arc tg 2 − 2 (14)
2 σx − σy
where
where 2
p = σx 2 − − σy 2 + + 44·∙σxy 2
—direction angle of ellipse.

τ—direction
Relying on
Relying onthe
theinformation
informationprovided
provided byby
thethe manufacturer
manufacturer of log
of log “ALIZE”
“ALIZE” σSOG= 0.5
thatthat = kn
0.5and
kn
and determined arbitrarily  ◦ = 3° for INS “VN-200”, using Equations (10) and (11), a
determined arbitrarily σCOG = 3 for INS “VN-200”, using Equations (10) and (11), a mean error graphmean
error
of graphcoordinates
position of position determined
coordinates using
determined using dead
dead reckoning reckoning
was preparedwas prepared
(Figure 5). (Figure 5).
" 0 0#
Figure 5. Mean error of coordinates as a function of distance covered (adopted ( = 0) =0 0 ,
Figure 5. Mean error of coordinates as a function of distance covered (adopted P (k = 0) = 0 0 ,
SOG = 1 m/s, COG = 90°). 0 0
SOG = 1 m/s, COG = 90◦ ).
Figure 5 shows that the mean error of position coordinates increases linearly as a function of
distance.
FigureEvery hundred
5 shows that meters
the mean it increases constantly
error of position at 25.54 m,increases
coordinates reachinglinearly
a value as
of a127.7 m after
function of
traveling 500 m.
distance. Every hundred meters it increases constantly at 25.54 m, reaching a value of 127.7 m after
Figure
traveling 5006m.
shows the mean error ellipses of position coordinates determined using the dead
reckoning
Figure method
6 showsafter traveling
the mean error200 and of
ellipses 500position
m (their dependencies
coordinates No. 12–13
determined usinghave been
the dead
calculated).
reckoning method after traveling 200 and 500 m (their dependencies No. 12–13 have been calculated).
Figure 6 shows
shows that
thatthe
thelargest
largestcoordinate
coordinate error occurs
error in the
occurs direction
in the according
direction to COG.
according The
to COG.
length
The of the
length ofaxis b is equal
the axis to thetolength
b is equal of theofmean
the length error error
the mean ellipseellipse
of coordinates determined
of coordinates using
determined
USBL USBL
using system (Figure
system 4). This
(Figure is due
4). This to the
is due factfact
to the that in in
that both
bothmethods
methodsofofdetermining
determining the
the position
coordinates the positioning line is a result of the the direction
direction measurement
measurement that is burdened
burdened with thethe
same error value σCOG =
error value 
= σα .
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Figure
Figure 6.
6. Change
Changeof
ofparameters
parametersof
of mean
mean error
error ellipse
ellipse after
after covering
covering aa distance
distance of
of 200
200 and
and 500
500 m.
4.
4. The
TheGenesis
Genesisofofthe
theProblem
Problem
The
The choice
choice between
between the the USBL
USBL system
system andand the
the method
method of of dead
dead reckoning
reckoning based
based onon the
the accuracy
accuracy
criterion
criterion is difficult. In some cases, the USBL system can be identified as being better (e.g., when
is difficult. In some cases, the USBL system can be identified as being better (e.g., when
measurements
measurementsare arecarried
carriedoutoutininsmall
smalldistances
distancesfrom
fromthe transceiver),
the transceiver), while
whilein in
others, thethe
others, method
method of
dead
of deadreckoning
reckoning (e.g., immediately
(e.g., immediately after updating
after updatingcoordinates
coordinates by by
GNSSGNSSfixes). If aIfUSBL
fixes). a USBLsystem
system is
selected, you give up additional COG and SOG. If you choose the DR method
is selected, you give up additional COG and SOG. If you choose the DR method measurements r, α, measurements ,  ,
(range, yaw,
β (range, yaw, pitch)
pitch) are
are not
not taken
taken into
into account.
account. ItIt is
is certain
certain that
that skilful
skilful use
use of
of aa greater
greater number
number of of
measurements
measurements can can improve
improve their
their accuracy
accuracy [29].
[29].
In
In the
the case
case of
of the
the NS
NS BAUV,
BAUV, thethe different
different availability
availability of of measurements
measurements is is assumed,
assumed, i.e.,
i.e.,
 at regular intervals of time and with high frequency—the course and speed determined by
• at regular intervals of time and with high frequency—the course and speed determined by
navigation devices installed on the BAUV (not less than once per second),
navigation devices installed on the BAUV (not less than once per second),
 at irregular intervals and with low frequency—the direction and distance to the Transceiver of
• at irregular intervals and with low frequency—the direction and distance to the Transceiver of the
the appointed USBL system and transmitted by hydro-modem (less than once per
appointed USBL system and transmitted by hydro-modem (less than once per second—because
second—because of the difficulties in carrying out USBL system measurements and sending the
of the difficulties in carrying out USBL system measurements and sending the results of these
results of these measurements by hydro-modem caused interference in the propagation of
measurements by hydro-modem caused interference in the propagation of acoustic waves in
acoustic waves in the water).
the water).
These parameters will then be used to determine the position coordinates using the extended
Kalman These
filterparameters
(EKF). will then be used to determine the position coordinates using the extended
Kalman filter (EKF).
In its action, the filter may combine the various measurements (e.g., the course with the
In itstoaction,
distance the filtermark),
a navigation may combine
carriedthe outvarious measurements
at different (e.g., the
time intervals, course
taking with
into the distance
account their
to a navigation mark), carried out at different time intervals, taking into
errors—adjusted dynamically by the matrix of weights. Thanks to this mechanism, measurements account their errors—adjusted
dynamically
which by the matrix
are obviously of weights.
erroneous Thanksout
(e.g., carried to in
thisthe
mechanism,
USBL system, measurements
on the border which areoperation)
of its obviously
erroneous (e.g., carried out in the USBL system, on the border of its operation)
can be firmly suppressed, and accurate measurements amplified (e.g., SOG and COG determined in can be firmly suppressed,
aand accurate
short periodmeasurements
of time from the amplified
moment(e.g., SOG andthe
of updating COG determined
coordinates by in
GNSSa short period of time from
fixes).
the moment
However, of updating the coordinates
will the coordinates by GNSS
obtained by fixes).
the EKF method, a combination of parameter
However, will the coordinates
measurements of BAUV motion and the direction obtained by theand
EKF method,
distance of athecombination
USBL system, of parameter
be more
measurements of BAUV motion and the direction and distance
accurate than either the coordinate USBL system or the DR method in all cases? of the USBL system, be more accurate
thanThe
either
restthe
of coordinate
this article USBL
presentssystem or the
a study DR positioning
on the method in all cases? of BAUV by the EKF method
accuracy
The rest of this article presents a study on the positioning
compared to the USBL and DR positioning system, aimed at finding answers accuracy of BAUV byabove
to the the EKF method
question.
compared to the USBL and DR positioning system, aimed at finding answers to the above question.
5. Description of Data Fusion Using the Extended Kalman Filter
5. Description of Data Fusion Using the Extended Kalman Filter
Let us carry out a fusion of data using the extended Kalman filter combining COG( ) and
SOG( Let us carry out a fusion
) measurements, of data
changes inusing the extended
submergence ∆ (Kalman
) carriedfilter combining
out every one COG (k) andwith
second SOG3D (k)
measurements,
coordinate systemchanges
measurements of the ∆z
in submergence (k) system,
USBL carried out everyout
carried oneatsecond
differentwith 3Dintervals
time coordinate (insystem
some
measurements
moments + 1). of the USBL system, carried out at different time intervals (in some moments k + 1).
Let us assume that the results of the USBL measurement system will create the so-called vector
of observation, ( + 1) = ( + 1) ( + 1) ( + 1) , described by the function[30]:
Sensors 2016, 16, 1279 8 of 23
Let us assume that the results of the USBL measurement system will create the so-called vector of
h iT
observation, z (k + 1) = r (k + 1) α (k + 1) β (k + 1) , described by the function [30]:
     
f r ( k + 1) r ( k + 1) νr (k + 1)
h (x (k + 1) , ˚ (k + 1)) =  f α (k + 1)  =  α (k + 1)  +  να (k + 1)  (15)
     
f β ( k + 1) β ( k + 1) νβ (k + 1)
where
q
r ( k + 1) = ( x1 (k + 1) − x (k + 1))2 + (y1 (k + 1) − y (k + 1))2 + (z1 (k + 1) − z (k + 1))2
x1 ( k + 1) − x ( k + 1)
α (k + 1) = arc tg
y1 ( k + 1) − y ( k + 1)
z1 ( k + 1) − z ( k + 1)
β (k + 1) = − arc tg q
( x1 (k + 1) − x (k + 1))2 + (y1 (k + 1) − y (k + 1))2
νr (k + 1), να (k + 1), νβ (k + 1)—values of measurement errors (with zero mean normal distribution);
x (k + 1), y (k + 1), z (k + 1)—fixed coordinates of transceiver position; x1 (k + 1), y1 (k + 1),
z1 (k + 1)—variable coordinates of the transponder position (BAUV). And on the basis of COG (k ),
SOG (k) measurements and the submergence changes ∆z (k) , vector x of BAUV’s 3D position
coordinates, using the function f (x (k) , u (k ) , w (k )):
      
f x ( k + 1) x (k) ∆t (k) ·SOG (k) ·sinCOG (k)
wx ( k )
x ( k + 1) =  =
f y ( k + 1) + y (k) ∆t (k) ·SOG (k) ·cosCOG (k)
 +  wx ( k ) 
       
f z ( k + 1) z (k) ∆z (k ) wz ( k )
(16)
In pursuing data fusion, based on functions h (x (k + 1) , 0) i f (x (k) , u (k) , 0) we calculate
the estimated vector of coordinates x̂ (k + 1) and the covariance matrix P (k + 1), using the
following dependencies:
x̂ (k + 1)− = f (x (k) , u (k) , 0 (17)
P ( k + 1) − = F ( k + 1) P ( k ) F ( k + 1)T + Q ( k ) (18)
∼ −
y (k + 1) = z(k + 1) − h(x̂ (k + 1) , 0) (19)

S ( k + 1) H ( k + 1) P ( k + 1) − H ( k + 1)T + R ( k + 1) (20)
K ( k + 1 ) = P ( k + 1 ) − H ( k + 1 )T S ( k + 1 ) −1 (21)
∼
x̂ (k + 1) = x̂ (k + 1)− + K (k + 1) y (k + 1) (22)
P (k + 1) + (I − K (k + 1) H (k + 1)) P (k + 1)− (23)
where x̂ (k + 1)− i P (k + 1)− —estimated vector of coordinates of the BAUV position and its
covariance matrix, determined a priori for the time of k + 1; x̂ (k + 1) i P (k + 1)—estimated vector
of coordinates of the BAUV position and its covariance matrix, determined a posteriori for the
 ∂f ∂ fx ∂ fx

x  
∂x ∂y ∂z
 ∂ fy ∂ fy ∂ fy  1 0 0
time of k + 1, F (k + 1) =   =  0 1 0 —the so-called matrix system is

 ∂x ∂y ∂z 
∂ fz ∂ fz ∂ fz 0 0 1
∂x ∂y ∂z  
σx 2 σxy σxz
calculated as a function of the Jacobian matrix f (x (k) , u (k) , 0), Q (k) =  σyx σy 2 σyz  =
 
σzx σzy σz 2
Sensors 2016, 16, 1279 9 of 23
 ∂ fx ∂ fx ∂ fx    ∂ fx ∂ fx ∂ f x T
∂COG ∂SOG σCOG 2
∂∆z 0 0 ∂COG ∂SOG ∂∆z
 ∂ fy ∂ fy ∂ fy   ∂ fy ∂ fy ∂ fy 
0 σSOG 2 0   ∂COG  —matrix of noises of the

 ∂COG ∂SOG  ∂∆z ∂SOG ∂∆z
∂f ∂ fz ∂ fz
0 0 2 ∂ f ∂ f ∂ f
Sensors z2016, 16, 1279 σ∆z z z z
9 of 23
∂COG ∂SOG ∂∆z ∂COG ∂SOG ∂∆z
state vector at the time of k (with adopted mean errors σCOG , σSOG , σ∆z of COG and SOG measurements
and changes in submergence),  = = = =0
σxz = σyz = σzx = σzy = 0
 = ∆
σz 2 = σ∆z 2
( ) —updated covariance matrix of the state vector used in subsequent time k + 1, ( + 1) =
P (k ) —updated covariance
( ) (matrix
) of the state (vector
) ( used
) in subsequent
( ) ( ) time k + 1, H ( k + 1) =
( ) ( ) y1 (k +(1)−)y(k+1)
 
x1 (k +1)− x (k +1) z1 (k +1)−z(k +1)
 ∂ fr ∂ fr ∂ fr 
(
√ √ √

∂x 
∂y = ∂z  ) ( ) l3 ( k + 1 ) − ( ) ( )
0
l3 ( k + 1 )
—Jacobian l3 ( k + 1 )
matrix with

∂ fα ∂ fα ∂ fα ( ) y1 (k +1)−y(k+1) ( ) x1 (k +1)− x (k+1)
−
  
  ∂x  ∂y  ( )= (  ) ∙ (
  ) ( )l2 (k +1() ) ( ) ∙ ( ) ( ) l ( k +)1
0 

∂ fβ ∂ fβ
∂z
∂ fβ
− (2 ( ) ) √ 
( ) ∙
( x1 ((k+1))−√
x (k +1))·(z1 (k +1)−( z(k +
) ∙ 1))
( ) ( y1 ( k +1)− y ( k +1))·( z1 ( k +1)− z ( k +1)) l2 ( k + 1 ) 
√ − l ( k +1)
function ( ( ), 0),
∂x ∂y ∂z
l2 (k+1)·l3 (k+1) l2 ( k + 1 ) · l3 ( k + 1 ) 3
—Jacobian matrix with function h (x (k) , 0),

( + 1) = ( + 1) − ( + 1) + ( + 1) − ( + 1)
2
l3 ( k + 1 ) = ( x 1 ( k + 1 ) − x ( k ++ 1)) ( ++(y1) y (k + 1))2 + (z1 (k + 1) − z (k + 1))2
k +(1)+−1)
1 (−
l2 ((k + )=
+ 11) = ( x1 ((k + 1) −
+ 1) 1))2 +
+ 1)
− x ((k + + 1)
+ (y1 ((k + − y((k +
1) − 1))2
+ 1)
 
2
  σr 0 0 0 0 
+1)
R((k + 0 
1) == 0  σα 20 —matrix
0 —matrix of noises
of noises of the observation
of the observation vector invector in ktime
time of of k + 1
+ 1 (adopted
2
0 0 0  β
0 σ
(adopted
mean measurement errors:  —range,
mean measurement  —yaw,σα—yaw,
errors: σr —range, σβ —pitch);
—pitch); —identity matrix. matrix.
I—identity
6. Research
6. Researchand
andAnalysis
Analysisofofthe
theObtained
ObtainedResults
Results
Let us
Let us now
now do
do an
an experiment to software
experiment to software simulation
simulation of
of the
the BAUV
BAUV passage
passage along
along the
the straight
straight
section with simultaneous:
section with simultaneous:
• generating COG—measurements ofofINS
generating COG—measurements INS carried
carried out
out by SOG—carried out
by “VN-200”, SOG—carried out with
with log
“ALIZE” and ∆z—carried
“ALIZE” and ∆z—carried out out with
with aa hydrostatic
hydrostaticpressure
pressuresensor
sensor“S-20
“S-20WIKA”;
WIKA”;
• generating by r, ,α,β , measurements—carried
measurements—carried outout by the
by the USBL
USBL “MicronNav
“MicronNav System”;
System”;
• calculating the BAUV estimated coordinates of positions, parallel to the USBL system, with the
method of dead reckoning and using the extended Kalman filter. filter.
As a measuring testing ground, we assume a sea area around the USBL transponder system
As a measuring testing ground, we assume a sea area around the USBL transponder system
(Figure 7).
(Figure 7).
Figure 7.
Figure Measuring testing
7. Measuring testing ground.
ground.
Let the BAUV swims near the USBL transceiver system (located at a depth of 6 m) overcoming
the test section with COG = 220° , SOG = 1 m/s , submerged at = 3 m . Meanwhile,
= 〈0 s, 600 s〉 simulated measurements will be carried out by the on-board BAUV and USBL
system, i.e.,
 at fixed moments +1 (every one second) COG( + 1) = COG ( + 1) + ∆ ,
Sensors 2016, 16, 1279 10 of 23
Let the BAUV swims near the USBL transceiver system (located at a depth of 6 m) overcoming the
test section with COG = 220◦ , SOG = 1 m/s, submerged at z = 3 m. Meanwhile, τ = h0 s, 600 si
simulated measurements will be carried out by the on-board BAUV and USBL system, i.e.,
• at fixed moments k + 1 (every one second) COG (k + 1) = COGw (k + 1) + ∆COG , SOG (k + 1) =

SOGw (k + 1) + ∆SOG and ∆z (k + 1) = ∆zw (k + 1) + ∆∆z ;
• at some moments k + 1 (every 5, 20 and 100 s) r ( k + 1) = r w ( k + 1) + ∆r ,
α ( k + 1) = α w ( k + 1) + ∆ α , β ( k + 1) = β w ( k + 1) + ∆ β .
Each simulated value of the measurement is obtained by adding the reference measurement and
the error (e.g., simulated COG (k + 1) = COGw (k + 1) + ∆COG ). Measurement error ∆ will be treated
as a random variable with uniform distribution, the value of which will be contained within three
mean errors (3σ) of measurements made in the device (i.e., the probability of its occurrence will be
at 99%).
Reference measurements of the USBL system rw (k + 1), αw (k + 1) , β w (k + 1) will be
determined relative to the reference positions consecutively occupied by the BAUV, which moves with
undisturbed movement. On the other hand, the BAUV reference position will be dead reckoned (DR)
on the basis of reference COGw (k + 1), SOGw (k + 1) and ∆zw (k + 1), which will be located exactly at
the measuring section (see Figure 7).
For realigning the experiment for calculating the accepted mean error values close to the actual
values (provided by the manufacturer and determined on the basis of their own—selected arbitrarily):
• σCOG = 8◦ —for INS “VN-200”,

• σSOG = 0.5 kn—for the electromagnetic log “ALIZE”,
• σ∆z = 0.25 m—for the hydrostatic pressure sensor “WIKA S-20”,
• σr = 0.2 m, σα = σβ = 3◦ —for the USBL “MicronNav System” system.
The experiment will commence at the moment of k = 0 and will be completed when the BAUV
swims about 600 m. The extended Kalman filter will be “fine-tuned” at the start of the experiment
and the coordinates of the initial BAUV position will be determined with a mean error of about 3 m
(it is assumed that the coordinates were determined before submergence using GNSS) [31]. In the
calculations, changes of COG, SOG, and ∆z caused by the BAUV wave motion (swinging, on a sine
curve) will be omitted.
6.1. Test No. 1

The test consisted of making three and then one hundred passages along the test section.
COG, SOG and ∆z were measured every one second.
r, α, β were measured every 5 s.
First Passage
In Figure 8 determined routs using different methods of positioning are presented. Figures 9–12
present graphs depicting simulated measurement errors (∆COG , ∆SOG , ∆r , ∆α , ∆ β ) during the first
passage of the test section (these graphs will not be displayed during the presentation of the results of
further testing). Figures 9–12 clearly show that the dispersion of the measurement errors are random
and limited. The error value does not exceed 3σ fluctuating:
• ∆COG in the range of h−15◦ , 15◦ i,

• ∆SOG in the range of h−0.8 m/s, 0.8 m/si,
• ∆α , ∆ β in the range of h−9◦ , 9◦ i,
• ∆r in the range of h−0.6 m, 0.6 mi.
Sensors 2016,
Sensors 2016, 16,
16, 1279
1279 11 of 23
11 23
Sensors 2016, 16, 1279 11 of
of 23
Sensors 2016, 16, 1279 11 of 23
Figure 8. Determined
Figure Determined routes (single
(single passage).
Figure 8.
8. Determined routes
routes (single passage).
passage).
Figure 8. Determined routes
routes (single
(single passage).
passage).
Figure 9.
9. Graph
Graph of
of simulated
simulated measurement error∆∆COG..
measurement error
9. Graph of simulated measurement error ∆
Figure
Figure
Figure 9. ∆ .
Figure 9. Graph of simulated measurement error ∆ .
Figure 10. Graph

Figure 10. Graph of
of simulated
simulated measurement error ∆∆SOG...
measurement error
Figure
Figure 10.
10. Graph
Graph of
of simulated
simulated measurement error ∆
measurement error ∆ .
Figure
Figure 11.
Figure 11. Graph
11. Graph of
Graphof simulated
ofsimulated measurement
simulatedmeasurement error
measurement error ∆ , ∆∆ ...
∆
Figure 11. Graph of simulated measurement error ∆α ,,, ∆
error ∆ ∆β .
Figure 11. Graph of simulated measurement error ∆ , ∆ .
Figure 12. Graph of simulated measurement error ∆r .

error ∆ ..
measurement error ∆
Figure 12. Graph
Figure Graph of simulated
simulated measurement error
Figure 12.
12. Graph of
of simulated measurement ∆ .
Sensors 2016, 16, 1279 12 of 23
Sensors 2016, 16, 1279 12 of 23
In Figure
Sensors 13,
2016, 16, for comparison, three graphs of the reference position distance from the
1279 12 ofposition
23
estimated by the extended Kalman filter and dead reckoning methods and determined by the USBL
In Figure 13, 13,
In Figure for for
comparison,
comparison,three
threegraphs
graphs of the reference
of the referenceposition
position distance
distance from
from the position
the position
system are presented.
estimated by the extended Kalman filter and dead reckoning methods and determined
estimated by the extended Kalman filter and dead reckoning methods and determined by the USBL by the USBL
system are presented.
system are presented. EKF DR USBL
Distance [m]
60 EKF DR USBL
40
Distance [m]
60
20
40
0
20
0 50 100 150 200 250 300 350 400 450 500 550 600
0 Time [s]
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure 13. Graph of the reference position distance from the position estimated by EKF and DR
Figure
Figure
methods 13. determined
13.and Graph
Graph of of
thethe reference
reference
by position
position
the USBL system distance
(singlefrom
distance from the
theposition
passage). positionestimated by EKF
estimated and DR
by EKF and DR
methods and determined by the USBL system (single passage).
They show that the accuracy of the estimated position coordinates of EKF method is the same
They show that the accuracy of the estimated position coordinates of EKF method is the same
during
Theythe the
entire
duringshow that
entire
test
the duration.
test accuracy
The
duration. of
accuracy
Thethe estimated
accuracy
of the
of the
estimated
position
estimated
positionofcoordinates
coordinates EKF method
position coordinates
using
is the
using the
the DR
DRsame
method
during decreases
the
method entire
decreases as as
test aduration.
function
a functionof oftime.
The On theother
accuracy
time. On the other
of hand,
thehand, the
estimated
the accuracy
position
accuracy ofcoordinates
of the the USBL
USBL position
using
position system
the
system DR
grows
method in the time
decreases
grows in the time interval
as ainterval <400
function s, 500
ofs,time.
<400 s>—it
On the
500 s>—it is then
other
is then that
hand,
that the distance
the accuracy
the distance between
between of the the transceiver
thetransceiver
USBL position and the
system
and the
transponder
growstransponderdoes
in the time doesnotnot
intervalexceed
<4005050
exceed s,m.m. s>—it is then that the distance between the transceiver and the
500
Table 1does
Table
transponder shows
1 shows the
not exceedthestatistical
50 m. parameters
statistical characterizingthethe
parameters characterizing accuracy
accuracy of coordinates
of coordinates of all of all
positions
positions set set
at at
the the test
test section.
section.
Table 1 shows the statistical parameters characterizing the accuracy of coordinates of all positions
set at the test section.
Table 1. Statistical parameters of positioning errors by EKF and DR methods and the USBL system
Table 1. Statistical parameters of positioning errors by EKF and DR methods and the USBL system
Table(single passage).parameters of positioning errors by EKF and DR methods and the USBL system
Statistical
1. passage).
(single
(single passage). Maximum Distance Average Distance to
Positioning Minimum Distance to the Maximum Distance the Average Distance to
Positioning Minimum Distance to the to the Reference Reference
Method Reference Position (m)
Minimum Distance to the Maximumto the Reference
Distance the Reference
Method
Positioning Method Reference Position (m) Position (m) to the Average Distance
Position (m) to the
Reference Position (m) Reference Position (m) Reference
EKF 0.1 Position
6.6 (m) 2.2Position(m)
Position (m)
EKFDR EKF 0.70.1

0.1 6.66.6
25.8 2.2 2.2
15.9
DR 0.7 25.8 15.9
DR USBL 0.3
0.7 75.2
25.8 22.6 15.9
USBL 0.3 75.2 22.6
USBL 0.3 75.2 22.6
The results in Table 1 clearly show that the best values of the statistical parameters were
The results
obtained in Table
by the 1 clearly show that the best values of the statistical parameters were obtained
EKF method.
The results in Table 1 clearly show that the best values of the statistical parameters were
by the EKFOnmethod.
the basis of simulation measurements during two successive passages along the test section,
obtained by the EKF method.
the following
On route
the basis of graphs were
simulation prepared and
measurements the reference
during position distance
two successive passagesfrom thethe
along estimated
test section,
On the (Figures
position basis of 14–17)
simulation
as measurements
well as the during
statistical two (Tables
parameters successive
2 passages
and 3). along the test section,
the following route graphs were prepared and the reference position distance from the estimated
the following route graphs were prepared and the reference position distance from the estimated
position (Figures 14–17) as well as the statistical parameters (Tables 2 and 3).
position (Figures
Second Passage14–17) as well as the statistical parameters (Tables 2 and 3).
Second Passage
Second Passage
Figure 14. Determined routes (single passage).
Figure14.
Figure 14.Determined
Determinedroutes
routes(single
(singlepassage).
passage).
Sensors 2016, 16, 1279 13 of 23
Sensors 2016, 16,
Sensors 2016, 16, 1279
1279 13 of
13 of 23
of 23
23
Sensors 2016, 16, 1279 13
EKF DR USBL
80 EKF DR USBL
EKF DR USBL
[m] [m]
60
80
80
Distance
Distance[m] 40
60
60
20
Distance
40
40
0
20
20 0 50 100 150 200 250 300 350 400 450 500 550 600
0
0 Time [s]
0 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Time [s]
methods
Figure 15.
Figure
Figure 15.and
15. determined
Graph
Graph
Graph of
of the
of the by the USBL
the reference
reference
reference systemdistance
position
position
position (single passage).
distance
distance from the
from
from the position
the position estimated
position estimated by
estimated by EKF
by EKF and
EKF and DR
and DR
DR
methods
methods and
methods and determined
and determined
determined by by the
by the USBL
the USBL system
USBL system (single
system (single passage).
(single passage).
passage).
Table 2. Parameters of statistical positioning errors by EKF, DR, and USBL system (single passage).
Table 2. Parameters
Table 2.
Table Parameters of
of statistical
statistical positioning
positioning errors
errors by
by EKF,
EKF,DR,
EKF, DR,and
DR, andUSBL
and USBLsystem
USBL system(single
system (singlepassage).
(single passage).
passage).
Minimum Distance Maximum Distance Average Distance
Positioning
Minimum
Minimum Distance
to the Reference
Distance Maximum Distance
to the Reference
Maximum Distance Average Distance
to the Reference
Average
Positioning
Method
Positioning Minimum Distance to the Maximum Distance to the AverageDistance
Distance to the
Positioning Method toPosition
to the Reference
the
Reference
Reference
(m)
Position (m)
toPosition
to the Reference
the Reference
Reference
(m)
Position (m)
toReference
to the Reference
the Reference
Position (m)
Position (m)
Method
Method
EKF Position
0.1 (m)
Position Position (m)
6.4 (m) Position
2.3 (m)
EKF 0.1 (m) Position6.4 Position 2.3
(m)
EKF
DR
DREKF 0.1
0.1
0.1 6.4
22.6
6.4
22.6 2.3 11.8
11.8
2.3
USBL DR
USBL
DR 0.1
0.2
0.2
0.1 22.6
81.6
81.6
22.6 11.8
23.6
11.8 23.6
USBL
USBL 0.2
0.2 81.6
81.6 23.6
23.6
Third Passage
Third
Third Passage
Passage
Third Passage
Figure 16. Determined route (single passage).

Figure 16.
Determined route
route (single
(single passage).
passage).
EKF DR USBL
80 EKF DR USBL
EKF DR USBL
[m] [m]
60
80
80
Distance
[m]
40
60
60
Distance
20
Distance
40
40
0
20
20 0 50 100 150 200 250 300 350 400 450 500 550 600
0
0 Time [s]
0 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Time [s]
Figure 17. Graph of
17. Graph of the reference position distance from the position estimated by EKF and DR
methods and
Figure 17.
17. determined
Graph the by
of the the USBL
USBL
reference system
position (single
(single passage).
systemdistance
distance passage).
from the
the position
position estimated
estimated by
by EKF
EKF and
and DR
DR
Figure Graph of reference position from
Sensors 2016, 16, 1279 14 of 23
Sensors 2016, 16, 1279 14 of 23
Table
Sensors 2016, 16,3.1279
Parameters of statistical positioning errors by EKF, DR and USBL system (single passage).
14 of 23
Table 3. Parameters of statistical positioning errors by EKF, DR and USBL system (single passage).
Maximum Distance Average Distance to
Positioning Minimum
Positioning MinimumDistanceDistanceto the Maximum Distance Average Distance to
tothe
toEKF,
Table 3. Parameters of statistical positioning errors by
to theReference
the Reference
DR and USBL systemthe
the Reference
(single passage).
Reference
Method
Method ReferencePosition
Reference Position(m)
(m)
Position (m)
Position (m) Position
Position (m) (m)
EKF Minimum Distance
0.1 to the Maximum Distance
5.3 to the Average1.8 Distance to the
EKF
Positioning Method 0.1
Reference 0.2Position (m)
5.3
Reference14.0
Position (m)
1.8 Position (m)
Reference
DR
DR 0.2 14.0 4.7
4.7
EKF
USBL 0.1
0.7 5.3
86.1 21.61.8
USBL
DR
0.7
0.2
86.1
14.0
21.6 4.7
USBL 0.7 86.1 21.6
Onthe
On thebasis
basisof ofgraphs
graphsanalysis
analysisof ofFigures
Figures14–17,
14–17,asaswell
wellasasstatistical
statisticalparameters
parametersfrom fromTables
Tables22
and 3, it can be stated that the accuracy of estimated position coordinates using the EKF method isis
and 3, it can be stated that the accuracy of estimated position coordinates using the EKF method
On the
higher thanbasis of graphs
those estimatedanalysis
usingof Figures
the 14–17, asand
DR method
method welldetermined
as statisticalby
parametersUSBLfrom
the USBL Tables
system. The2
higher than those estimated using the DR and determined by the system. The
and 3, it can be
reference position stated
position distance that the
distance fromaccuracy
from the of estimated
the estimated
estimated one position
one byby EKFcoordinates
EKF method using
method does the
does not EKF method
not exceed
exceed 77 m. is
m.
reference
higher than thoseon
Unfortunately, estimated
the usingitthe
graphs can DR bemethod
noticed and determined
that time by thehave
intervals USBLoccurred
system. Thein reference
which the
Unfortunately, on the graphs it can be noticed that time intervals have occurred in which the
position
reference distance
position from the estimated one position
by EKF method doesbynot exceed 7 m. Unfortunately,
comparisonon to the
reference position isis further
further from the
from the estimated
position estimated by EKFEKF method,
method, in comparison
in to the
the
graphs it can
estimated be noticed
position by thatmethod
DR time intervals
or have occurred
determined using in
thewhich
USBL the reference
system. One position
can ask isoneself
furthera
estimated position by DR method or determined using the USBL system. One can ask oneself a
from the position
question here:how howestimated
oftendodoby EKFtime
such method, in comparison
intervals to the estimated
occur?Generalized
Generalized resultsofposition
of by DR
statistical method
analysis can
question here: often such time intervals occur? results statistical analysis can
or determined
answerthat using
thatquestion. the USBL
question.ItItisisbased system.
basedon ontwo One can
twoadditional ask oneself
additionalindicators. a
indicators.question here: how often do such time
answer
intervals
The occur?
former Generalized
describes results
the average
The former describes the average  distance to the 
of statistical analysis to
distance canthe
answer that question.
reference
reference positionIt with
position
is based
with on two
estimated
estimated
additional
calculation indicators.
on the basis of distance  obtained for passages along
calculation on the basis of distance  obtained for passages along the test section at the same the test section at the same
The
momentof former
of , ,in describes
inaccordance the
accordancewith average
withthe distance
theformula:
formula:
ξ to the reference position with estimated calculation
moment
on the basis of n distance ξ obtained for n passages along the test section at the same moment of k, in
( ) == n  ( )
accordance with the formula: ( ) ( ) (24)
(24)
ξ (k) = ∑ ζ i (k) (24)
i =0
Figures 18
Figures 18 and
and 19
19 presented
presented the
the graph
graph ofof the
the determined
determined route,
route, average
average distance
distance to
to the
the
Figures 18 and
referenceposition 19
positionwith presented
withthe the
theestimated,graph of the
estimated,established determined
establishedon onthe route,
thebasis
basisof average
ofaahundred distance
hundreddistance to the reference
distancemeasurements
measurements
reference
position
carried withatthe
out theestimated,
same established
moment, on onofthe
each basis
the of a hundred
hundred BAUV distance of
passages measurements
the test carried out
section.
carried out at the same moment, on each of the hundred BAUV passages of the test section.
at the same moment, on each of the hundred BAUV passages of the test section.
EKF DR USBL
EKF DR USBL
50
Distance [m]
5040
Distance [m]
4030
3020
2010
10 0
0 0 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Time [s]
Figure 18. Graph

Graph of
of the
the reference
referenceposition
positiondistance
distance from
fromthe
theposition
position estimatedby
by EKFand
and DR
Figure
Figure 18.
18. Graph of the reference position distance from the position estimated
estimated by EKF
EKF and DR
DR
methods anddetermined
methods determined bythe the USBLsystem
system (onehundred
hundred passages).
methods and
and determined by by the USBL
USBL system (one
(one hundred passages).
passages).
Figure 19.Determined
Determinedroutes
routes(one
(one hundredpassages).
passages).
Figure
Figure 19.
19. Determined routes (one hundred
hundred passages).
Sensors 2016,16,
Sensors2016, 16,1279
1279 15
15 of
of 23
23
One Hundred Passages

Generalizing the results of test No. 1, based on Figure 19, it can be stated that the average value
Generalizing the results of test No. 1, based on Figure 19, it can be stated that the average value of
of the reference position distance from the estimated position is constant in the case of EKF, it
the reference position distance from the estimated position is constant in the case of EKF, it increases
increases linearly for DR and decreases and then increases linearly in the case of the USBL system.
linearly for DR and decreases and then increases linearly in the case of the USBL system.
The second indicator to the generalized analysis is based on the histogram showing the
The second indicator to the generalized analysis is based on the histogram showing the frequency
frequency of the same distance to the reference position from the estimated position. The histogram
of the same distance to the reference position from the estimated position. The histogram is presented
is presented in Figure 20.
in Figure 20.
EKF DR USBL
30
Frequency [%]
20
10
0
0 5 10 15 20 25 30 35 40 45
Distance [m]
Figure 20. Histogram of the reference position distance from the position estimated by EKF and DR
methods and determined by the USBL system (one hundred passages).
It
It results
results from
from the
the histogram
histogram that
that aa two
two meter
meter distance
distance from
from the
the estimated
estimated position
position by
by EKF
EKF
occurred
occurred most
most often.
often. In
In addition,
addition, as
as aa function
function of of the
the distance
distance toto 55 m,
m, EKF
EKF histogram
histogram columns
columns occur
occur
most
most often.
often. DR and USBL histograms
histograms are flattened
flattened asas aa function
function of
of distance.
distance. This
This proves
proves that
that the
the
incidence of very scattered distance values (up to 15 m) is highly probable. The statistical
incidence of very scattered distance values (up to 15 m) is highly probable. The statistical parameters parameters
of
of the
the positioning
positioning errors
errors using
usingEKF,
EKF,DRDRmethods
methodsand andthe
theUSBL
USBLsystem
systemarearepresented
presentedininTable
Table4.4.
Table4.4. The
Table The statistical
statistical parameters
parameters of
of the
the positioning
positioning errors
errors using
using EKF,
EKF, DR
DR methods
methods and
and the
the USBL
USBL
system (one hundred passages).
system (one hundred passages).
Minimum
MinimumDistance
Distance Maximum
MaximumDistance
Distance Average Distance
Positioning Average Distance from the
Positioning Method from
fromthe
theReference
Reference from
fromthe
theReference
Reference from the Reference
Method Position(m)
(m) Position(m)
(m)
Reference Position (m)
Position Position Position (m)
EKF
EKF 0.6
0.6 3.3
3.3 2.22.2
DR
DR 0.6
0.6 20.1
20.1 10.610.6
USBL 1.3 57.0 23.4
USBL 1.3 57.0 23.4
The
The results
resultsininTable 4 clearly
Table show
4 clearly that the
show thatbest
thevalues of the statistical
best values parameters
of the statistical were obtained
parameters were
by the EKF
obtained bymethod.
the EKF method.
6.2.
6.2. Test
TestNo.
No. 22
The
The test
testdepended on carrying
depended out three,
on carrying out followed by a hundred
three, followed by a passages
hundredin passages
the test section.
in theCOG,
test
SOG and ∆z were
section. COG ,SOG measured every
and ∆z were one second.
measured r, α,
every oneβ were
second. ,  , every
measured were20measured
s. every 20 s.
First Passage
First Passage
The statistical parameters of the positioning errors using EKF, DR methods and the USBL system
The statistical parameters of the positioning errors using EKF, DR methods and the USBL
for single passage are presented in Table 5 (for first passage) in Table 6 (for second passage) and in
system for single passage are presented in Table 5 (for first passage) in Table 6 (for second passage)
Table 7 (for third passage).
and in Table 7 (for third passage).
system (single passage).
Maximum Distance Average Distance to

Positioning Minimum Distance to the
to the Reference the Reference
Method Reference Position (m)
Sensors 2016, 16, 1279 Position (m) Position
16 of (m)
23
EKF 0.2 7.3 3.4
DR Table 5. Statistical parameters
0.7of positioning errors using EKF and34.9 10.9
DR methods and the USBL system
USBL (single passage). 0.4 68.0 24.3
Second Passage
Positioning Method
Minimum Distance to the Maximum Distance to the Average Distance to the
Reference Position (m) Reference Position (m) Reference Position (m)
EKF
Table 6. Statistical parameters of 0.2
positioning errors using7.3EKF and DR methods3.4and the USBL
DR 0.7 34.9 10.9
system (single
USBLpassage). 0.4 68.0 24.3
Minimum Distance Maximum Distance Average Distance to

Positioning
Second Passage
to the Reference to the Reference the Reference
Method
Position
Table 6. Statistical parameters (m) errors usingPosition
of positioning (m)
EKF and DR methods and the Position
USBL system(m)
(single
EKF passage). 0.1 7.5 2.5
DR 0.1 26.7 9.7
Minimum Distance to the Maximum Distance to the Average Distance to the
Positioning Method
USBL 1.4Position (m)
Reference Reference64.3
Position (m) 21.0 (m)
Reference Position
EKF 0.1 7.5 2.5
Third Passage DR 0.1 26.7 9.7
USBL 1.4 64.3 21.0
The analysis of Figures 21–23 shows that the accuracy of the estimated position coordinates
using EKF method
Third Passage improves almost every 20 s, when measurements from the USBL system are
included in Thethe analysis
calculations. Even if the position determined by the USBL system is significantly
of Figures 21–23 shows that the accuracy of the estimated position coordinates using
distant from the reference
EKF method position,
improves almost every 20thes, when
accuracy of the estimated
measurements from the USBL position using
system are EKF
included in method
increases.
theThis may beEven
calculations. dueiftothethe fact that
position EKF suppresses
determined the significant
by the USBL system anddistant
is significantly obviously
from theerroneous
reference position, the accuracy of
measurement direction of ( + 1) , ( + 1) and reinforces the accurate measurement of the
the estimated position using EKF method increases. This may be
distancedue
of to(the+fact
1).that EKF suppresses the significant and obviously erroneous measurement direction of
α (k + 1) , β (k + 1) and reinforces the accurate measurement of the distance of r (k + 1).
On the On basis of analysis of the graphs in Figures 21–23, and the statistical parameters from
the basis of analysis of the graphs in Figures 21–23, and the statistical parameters from
Tables 6Tables
and 7,6 itand
can7, be concluded
it can that that
be concluded the the
accuracy
accuracy ofof
thetheestimated
estimated position coordinates
position coordinates using EKF
using
method EKF
is greater
methodthan the estimated
is greater ones using
than the estimated DR method
ones using DR method and
anddetermined
determined by byUSBL
USBL system. The
system.
The maximum reference position distance from the estimated ones using EKF
maximum reference position distance from the estimated ones using EKF method does not exceed method does not exceed
8 m. However, as in test No. 1, it can be seen on the graphs that there were intervals in which the
8 m. However, as in test No. 1, it can be seen on the graphs that there were intervals in which the
reference position is more distant from the estimated position by the EKF method, compared to the
referenceestimated
position is more distant from the estimated position by the EKF method, compared to the
position by the DR method or that determined by the USBL system.
estimated position by the DR method or that determined by the USBL system.
EKF DR USBL
60
Distance [m]
40
20
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure
Figure 21. 21. Graph
Graph of theofreference
the reference positiondistance
position distance from
fromthethe
position estimated
position by EKFby
estimated and DR and DR
EKF
methodsmethods and determined by the USBL system (single passage).
and determined by the USBL system (single passage).
EKF DR USBL
60
Distance [m]
40
20
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure 22. Graph distancing the reference position from the position determined by EKF and DR
methods of the USBL system (single passage).
40
Distan
20
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
SensorsFigure 21.1279
2016, 16, Graph of the reference position distance from the position estimated by EKF and DR
17 of 23
EKF DR USBL
60
Distance [m]
40
20
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure 22.
Figure 22. Graph
Graph distancing
distancing the
the reference
reference position
position from
from the
the position
position determined
determined by
by EKF and DR
EKF and DR
Sensors 2016, 16, 1279 17 of 23
methods
Sensors 2016, 16,of the
1279 USBL system (single passage).
methods of the USBL system (single passage). 17 of 23
EKF DR USBL
EKF DR USBL
[m][m]
60
60
Distance
40
Distance
40
20
20
0
0 0 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 Time300
[s] 350 400 450 500 550 600
Time [s]
Figure
Figure 23. Graph
23.and
Graph of
of the
the reference
reference position
position distance
distance from
from the
the position
position estimated
estimated by
by EKF
EKF and
and DR
DR
methods determined by the USBL system (single passage).
Table 7. Statistical parameters of positioning errors using EKF and DR methods and the USBL
Table
Table 7. Statistical parameters of positioning errors using EKF EKF
and DR
andmethods and theand
USBL
thesystem
system7.(single
Statistical parameters
passage). of positioning errors using DR methods USBL
(single
systempassage).
(single passage).
Minimum Distance Maximum Distance Average Distance to
Positioning Minimum Distance Maximum Distance
Positioning Minimumto the Reference
Distance to the to the Distance
Maximum Reference to the Average Distance
the Reference
Average Distance totothe
Positioning Method
Method to Position
Referencethe Reference
Position (m)
(m) to Position
the Reference
Reference Position
(m) (m) the Reference
Reference
Position Position
(m) (m)
Method
EKFEKF Position
0.3 0.3 (m) Position
6.1
6.1 (m) Position
2.22.2(m)
DR EKF
DR 0.3 0.3
0.3 6.1
15.3
15.3 2.2
6.26.2
USBLDR 1.3 0.3 72.6
15.3 21.1
6.2
USBL 1.3 72.6 21.1
USBL 1.3 72.6 21.1
Figure 24
Figure 24 presents
presents determined
determined routs
routs during
during one
one hundred
hundred passages
passages using
usingdifferent
differentmethods
methodsofof
Figure 24
positioning. presents
Graph of determined
the reference routs during
position one hundred
distance is passages
presented in using
Figure different methods of
25.
positioning. Graph of the reference position distance is presented in Figure 25.
positioning. Graph of the reference position distance is presented in Figure 25.
Figure24.
Determined route
route(one
(onehundred
hundredpassages).
passages).
Figure 24. Determined route (one hundred passages).
EKF DR USBL
EKF DR USBL
50
[m][m]
40
50
Distance
30
40
Distance
20
30
10
20
100
0 0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Sensors 2016, 16, 1279 18 of 23
Figure 24. Determined route (one hundred passages).
EKF DR USBL
50
Distance [m] 40
30
20
10
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure
Figure 25. Graph of
25. Graph of the
the reference
reference position
position distance
distance from
from the
the position estimated by
position estimated by EKF
EKF and
and DR
DR
Sensorsmethods
2016, 16, and
1279 determined by the USBL system (hundred passages). 18 of 23
methods and determined by the USBL system (hundred passages).
Generalizing the results of Test No. 2, they are similar to Test No. 1 based on the indicators
Generalizing the results of Test No. 2, they are similar to Test No. 1 based on the indicators
presented in Figure 26 and Table 8.
presented in Figure 26 and Table 8.
EKF DR USBL
25
Frequency [%]
20
15
10
5
0
0 5 10 15 20 25 30 35 40 45
Distance [m]
Table 8. Statistical parameters of positioning errors using EKF, DR methods and the USBL system
(single passage).
(single passage).
Positioning Minimum
Minimum Distance to to
Distance thethe Maximum
Maximum Distance
Distancetotothe
the Average
AverageDistance
Distancetotothe
the
Positioning Method
Method Reference
Reference Position
Position (m)(m) Reference
Position (m) ReferencePosition
(m)
EKF
EKF 0.70.7 4.44.4 2.9
2.9
DR
DR 0.70.7 19.1
19.1 10.8
10.8
USBL
USBL 1.31.3 55.9
55.9 22.7
22.7
6.3. Test
6.3. No. 33
Test No.
The
The test
testconsisted
consistedofofcarrying
carryingout three,
out andand
three, then a hundred
then a hundredpassages alongalong
passages the test
thesection. COG,
test section.
SOG∆z
COG, and
SOG were
and ∆z measured every one
were measured everysecond.
one second. were measured
,  ,measured
r, α, β were every 100every
s. The100statistical
s. The
parameters of the positioning errors using EKF, DR methods and the USBL
statistical parameters of the positioning errors using EKF, DR methods and the USBL system system for single
for
passage are presented
single passage in Tablein9 Table
are presented (for first passage)
9 (for in Tablein
first passage) 10Table
(for second
10 (forpassage) and in Table
second passage) and 11in
(for third passage).
Table 11 (for third passage).
First Passage
Table 9.
Table 9. Statistical
Statistical parameters of positioning errors using EKF, DR methods
methods and the USBL system
(single passage).
Positioning Minimum Distance from Maximum Distance from Average Distance from the
Minimum Distance Maximum Distance
Method the Reference Position (m) the Reference Position (m) Average
Reference Position
Distance from (m)
the
Positioning Method from the Reference from the Reference
EKF 0.1 11.6 Reference Position
4.0 (m)
Position (m) Position (m)
DR 0.3 33.8 22.0
USBLEKF 3.4 0.1 11.6
37.5 4.0
18.7
DR 0.3 33.8 22.0
USBL 3.4 37.5 18.7
Second Passage
(single passage).
Positioning Minimum Distance from Maximum Distance from Average Distance from the
Method the Reference Position (m) the Reference Position (m) Reference Position (m)
EKF 0.5 11.4 4.9
Sensors 2016, 16, 1279 19 of 23
Second Passage
(single passage).

Average Distance from the
EKF 0.5 11.4 4.9
DR 0.5 28.7 12.0
USBL 7.6 20.0 14.0
ThirdSensors
Passage
Sensors
2016, 16, 1279
2016, 16, 1279
19 of 23
19 of 23
Third Passage
Third 11.
Table Passage
Statistical parameters of positioning errors using EKF, DR methods and the USBL system
(single passage).
(single passage).
(single passage). Minimum Distance Maximum Distance
Positioning MethodMinimum Distance
from the Reference Maximum Distance
from the Reference Average Distance
Positioning Minimum Distance Maximum Distance AveragePosition
Reference Distance
(m)
Positioning from thePosition (m)
Reference fromPosition (m)
the Reference from the Reference
Method from the Reference from the Reference from the Reference
Method
EKF Position (m)
0.2 Position
9.1 (m) Position
4.0 (m)
Position (m) Position (m) Position (m)
EKFDR 0.2 0.2 20.3
9.1 8.9
4.0
EKF
USBL 0.2 3.5 9.1
22.0 4.0
11.7
DR 0.2 20.3 8.9
DR 0.2 20.3 8.9
USBL 3.5 22.0 11.7
USBL 3.5 22.0 11.7
Graphs of the reference position distance from the position estimated by EKF and DR methods and
determinedGraphs
by theofUSBL
the reference
systemposition
for singledistance
passage from
arethe position in
presented estimated
Figuresby EKF and
27–29. TheDR methods
analysis of these
Graphs of the reference position distance from the position estimated by EKF and DR methods
and determined by the USBL system for single passage are presented in Figures 27–29. The analysis
Figures
andshows that the
determined accuracy
by the of thefor
USBL system estimated position
single passage are coordinates using EKF
presented in Figures method
27–29. improves
The analysis
of these Figures shows that the accuracy of the estimated position coordinates using EKF method
of these
almost everyFigures
100 s, shows
when that the accuracy from
measurements of the the
estimated
USBL position
system coordinates
are included using
in EKF method
the calculations.
improves almost every 100 s, when measurements from the USBL system are included in the
improvesofalmost
The accuracy the every 100 s, whencoordinates
measurements from the USBL system are included inestimated
the
calculations. Theestimated
accuracy position
of the estimated position using the EKF
coordinates method
using theis EKF
greater than isthe
method greater
calculations.
ones than
usingthe The
theestimated
DR methodaccuracy of the estimated position coordinates using the EKF method is greater
onesand
usingdetermined
the DR method by theandUSBL system.by
determined The
thereference position
USBL system. The distance
reference from
than the estimated ones using the DR method and determined by the USBL system. The reference
the estimated ones using
position distance from EKF methodones
the estimated is slightly larger
using EKF than isinslightly
method previous tests
larger and
than reach about
in previous tests11 m.
position distance from the estimated ones using EKF method is slightly larger than in previous tests
This is
anddue to the
reach long
about 11 period
m. This of
is estimating
due to the long the period
position using EKFthe
of estimating without taking
position usingmeasurements
EKF without of
and reach about 11 m. This is due to the long period of estimating the position using EKF without
takingsystem.
the USBL measurements of the USBL system.
taking measurements of the USBL system.
EKF DR USBL
EKF DR USBL
[m]
30
[m]
30
Distance
20
Distance
20
10
10
0
00 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Time [s]
Figure 27. Graph

27. Graph of of
thethe referenceposition
reference position distance from
fromthe
theposition estimated by EKF and and
DR
Figure
Figure 27. Graph of the reference position distance
distance from the position
position estimated
estimated by EKF
by EKF and DR DR
methods
methods and and determined
determined by by
thethe USBLsystem
USBL system(single
(single passage).
passage).
EKF DR USBL
30 EKF DR USBL
30
25
[m]
25
Distance[m]
20
20
15
Distance
15
10
10
5
05
00 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Time [s]
Figure
Figure 28. Graph
28. Graph of the
of the referenceposition
reference position distance
distance from
fromthe
theposition
positionestimated by EKF
estimated and and
by EKF DR DR
methods
methods and and determined
determined bybythethe USBLsystem
USBL system(single
(single passage).
passage).
EKF DR USBL
EKF DR USBL
20
[m]
20
[m]
15
Distance
15
Distance
10
10
5
5
0
00 50 100 150 200 250 300 350 400 450 500 550 600
5
D
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Sensors 2016, 16, 1279 20 of 23
EKF DR USBL
20
Distance [m]
15
10
5
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Figure
Figure 29. Graph of
29. Graph of the
the reference
reference position
position distance
distance from
from the
the position estimated by
position estimated by EKF
EKF and
and DR
DR
Sensors 2016, 16, 1279 20 of 23
methods
2016, 16, and
methods
Sensors 1279determined
and determined by
by the
the USBL
USBL system
system (single
(single passage).
passage). 20 of 23

One Hundred
Hundred Passages
Passages
Figure 30 presents determined routs during one hundred passages using different methods of
Figure 30 presents determined
determined routs during one hundred passages using different methods of
positioning. Statistical parameters of positioning errors using EKF, DR methods and the USBL
positioning.
positioning. Statistical
Statisticalparameters
parametersof ofpositioning
positioning errors using
errors EKF,EKF,
using DR methods and theand
DR methods USBL
thesystem
USBL
system for these passages are presented in Table 12.
for thesefor
system passages are presented
these passages in Tablein
are presented 12.Table 12.
The generalized results of the Test No. 3, clearly show that the estimation of position
The generalized
generalizedresults of the
results Test Test
of the No. 3,No.
clearly show that
3, clearly the estimation
show of position coordinates
that the estimation of position
coordinates using the EKF method gives the best results. In Figure 31, a marked improvement in the
using the EKF method gives the best results. In Figure 31, a marked improvement in
coordinates using the EKF method gives the best results. In Figure 31, a marked improvement in thethe accuracy of
accuracy of the position can be seen when calculating additional measurements from the USBL
the position
accuracy of can
the be seen when
position can becalculating
seen whenadditional measurements
calculating additional from the USBL system
measurements (at 100
from the USBLs).
system (at 100 s). The histogram in Figure 32 confirms the exact estimated position coordinates by
The histogram
system (at 100 in
s).Figure 32 confirms
The histogram the exact
in Figure 32estimated
confirms position
the exactcoordinates by the EKF
estimated position method can
coordinates by
the EKF method can be most frequently expected.
be
themost
EKF frequently
method can expected.
be most frequently expected.
Figure 30.
Figure 30. Determining the route
Determining the route (one
(one hundred
hundred passages).
passages).
Figure 30. Determining the route (one hundred passages).
EKF DR USBL
EKF DR USBL
40
[m][m]
40
30
Distance
30
20
Distance
20
10
100
00 50 100 150 200 250 300 350 400 450 500 550 600
0 50 100 150 200 250 Time 300
[s] 350 400 450 500 550 600
Time [s]
Figure
Figure 31. Graph of
31. Graph of the
the reference
reference position distance from
position distance from the
the position
position estimated
estimated by
by EKF
EKF and
and DR
DR
Figure 31.
methods Graph
and of the by
determined reference
the position
USBL system distance
(one from the
hundred position estimated by EKF and DR
passages).
EKF DR USBL
EKF DR USBL
15
[%]
15
[%]
10
Frequency
10
Frequency
5
5
0
0 0 5 10 15 20 25 30 35 40 45
10
D
0
0 50 100 150 200 250 300 350 400 450 500 550 600
Time [s]
Sensors 2016, 16, 1279 21 of 23
EKF DR USBL
Frequency [%] 15
10
0
0 5 10 15 20 25 30 35 40 45
Distance [m]
Figure 32. Histogram

Figure 32. Histogram of
of the
the reference
reference position
position distance
distance from
from the
the position
position estimated
estimated by
by EKF
EKF and
and DR
DR
methods
methods and
and determined
determined by
by the
the USBL
USBL system
system (one
(one hundred
hundredpassages).
passages).
(one hundred passages).

EKF 0.6 6.4 4.4
DR 0.6 18.9 10.7
USBL 4.8 43.0 20.5
7. Conclusions
NS of the BAUV, which uses only the dead reckoning method based on the course and speed
measurements, determines the position coordinates which error has quickly built up over time. In a
study, after 500 s (corresponding to travelling 500 m) the average error of the position coordinates
reached a value of 127.7 m (Figure 5).
In turn, the USBL system ensures high accuracy of determining the position coordinates, though
only at short distances from the transceiver. In studies, at a distance of 500 m, the average error of
determining the position coordinates will reach a value of 26.2 m (Figure 3).
Combining the EKF measurement method in the calculations carried out by devices installed on
the BAUV (log, INS, hydrostatic pressure sensor) with distance and direction measurements carried
out in the USBL system allows for obtaining the position coordinates significantly more accurate.
This happens mainly because the position coordinates obtained are based on low accurate COG and
SOG measurements and may be adjusted every now and then by more precise distance measurements
of r carried out by the USBL system. This is confirmed by the full results of the three tests presented in
the article.
The presented research concerned only method of BAUV positioning during undisturbed
motion along the straight line. The obtained results are based only on simulated measurements.
Further research will focus on tests in real environment. Sea currents and waving of sea will be taken
into consideration. Furthermore, positioning accuracy of BAUV will be assessed during movement
along composed trajectories including straight sections as well as curves lines.
Author Contributions: The work presented in the paper was carried out in equal contribution of all authors.
Krzysztof Naus conceived the concept and idea. Authors together implemented software and carried out the
experiments. The manuscript was also written as a common work.
Conflicts of Interest: The authors declare no conflict of interest.
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Sensors: The Positioning Accuracy of BAUV Using Fusion of Data From USBL System and Movement Parameters Measurements

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Keywords: underwater positioning; estimation of coordinates; autonomous biomimetic

Sensors 2016, 16, 1279; doi:10.3390/s16081279 www.mdpi.com/journal/sensors

 () = s 2 +  2 (3)

Figure 333 shows

and the parameters of the mean error ellipse:

—direction angle of ellipse.

P (k + 1) + (I − K (k + 1) H (k + 1)) P (k + 1)− (23)

—Jacobian matrix with function h (x (k) , 0),

• at fixed moments k + 1 (every one second) COG (k + 1) = COGw (k + 1) + ∆COG , SOG (k + 1) =

• σCOG = 8◦ —for INS “VN-200”,

6.1. Test No. 1

• ∆COG in the range of h−15◦ , 15◦ i,

Figure 10. Graph

Figure 12. Graph of simulated measurement error ∆r .

EKFDR EKF 0.70.1

Figure 14. Determined routes (single passage).

Figure 16. Determined route (single passage).

Figure 18. Graph

One Hundred Passages

Maximum Distance Average Distance to

Minimum Distance Maximum Distance Average Distance to

Minimum Distance Maximum Distance

Figure 27. Graph

One Hundred Passages

Figure 32. Histogram

Minimum Distance Maximum Distance

25. Hydromodem Micron Data Modem. Available online: http://www.tritech.co.uk/product/micron-data-

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 () = s 2 + 2 (3)