A VLP scheme for Underground River Measurement USVs

Based on Visible Light Positioning (VLP), this paper proposes an algorithm to track the pose of Unmanned Surface Vehicles (USVs) for the river flow discharge correcting in closed environments. In river flow discharge measurement, the USVs tracking method is more flexible than the bridge and fixing ship method in different circumstances. Tracking USVs’ pose using VLP could work without Global Navigation Satellite System (GNSS) in closed environments such as underground rivers, canyons, glaciers, and sewer networks. Therefore, this paper proposes a VLP algorithm to track USVs pose using Unscented Kalman Filter (UKF) while ensuring lower computational complexity. The algorithm is verified by simulation. The results show that the algorithm has high accuracy and strong robustness in the pose tracking of USVs.