{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:13:59Z","timestamp":1760346839250,"version":"build-2065373602"},"reference-count":69,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,2,7]],"date-time":"2020-02-07T00:00:00Z","timestamp":1581033600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61673370, U1709202"],"award-info":[{"award-number":["61673370, U1709202"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Project","award":["2016YFC0301201"],"award-info":[{"award-number":["2016YFC0301201"]}]},{"name":"State Key Laboratory of Robotics at the Shenyang Institute of Automation","award":["2020-Z06, 2014-Z02"],"award-info":[{"award-number":["2020-Z06, 2014-Z02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An accurate motion model and reliable measurements are required for autonomous underwater vehicle localization and navigation in underwater environments. However, without a propeller, underwater gliders have limited maneuverability and carrying capacity, which brings difficulties for modeling and measuring. In this paper, an extended Kalman filter (EKF)-based method, combining a modified kinematic model of underwater gliders with the travel-time differences between signals received from a single beacon, is proposed for estimating the glider positions in a predict-update cycle. First, to accurately establish a motion model for underwater gliders moving in the ocean, we introduce two modification parameters, the attack and drift angles, into a kinematic model of underwater gliders, along with depth-averaged current velocities. The attack and drift angles are calculated based on the coefficients of hydrodynamic forces and the sensor-measured angle variation over time. Then, instead of satisfying synchronization requirements, the travel-time differences between signals received from a single beacon, multiplied by the sound speed, are taken as the measurements. To further reduce the EKF estimation error, the Rauch-Tung-Striebel (RTS) smoothing method is merged into the EKF system. The proposed method is tested in a virtual spatiotemporal environment from an ocean model. The experimental results show that the performance of the RTS-EKF estimate is improved when compared with the motion model estimate, especially by 46% at the inflection point, at least in the particular study developed in this article.<\/jats:p>","DOI":"10.3390\/s20030893","type":"journal-article","created":{"date-parts":[[2020,2,7]],"date-time":"2020-02-07T11:50:28Z","timestamp":1581076228000},"page":"893","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8886-7287","authenticated-orcid":false,"given":"Jie","family":"Sun","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0287-0443","authenticated-orcid":false,"given":"Feng","family":"Hu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"given":"Wenming","family":"Jin","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"given":"Jin","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9885-583X","authenticated-orcid":false,"given":"Xu","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"given":"Yeteng","family":"Luo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"given":"Jiancheng","family":"Yu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]},{"given":"Aiqun","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"22","DOI":"10.5670\/oceanog.1989.26","article-title":"The Slocum Mission","volume":"2","author":"Stommel","year":"1989","journal-title":"Oceanography"},{"key":"ref_2","unstructured":"Martin, D. 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