Particle Swarm Optimization Algorithm for Speed Estimation Based on Azimuth and Doppler Information

Autonomous underwater vehicles (AUVs) have been used widely in the field of marine engineering owing to their flexibility and portability. Monitoring the speed condition of AUVs is essential to ensure their high precision operation. This paper develops a speed estimation model based on azimuth and Doppler shift, provides a geometric analytical solution, and proposes an AUV instantaneous speed estimation method based on particle swarm optimization. Finally, experiments are performed to verify the effectiveness of the algorithm. In the node baseline and its vicinity, the estimation error based on particle swarm optimization is much smaller than the geometric analytical solution.