期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 71, 期 1, 页码 326-338出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2021.3120201
关键词
Location awareness; Sea measurements; Receivers; Observers; Acoustic measurements; Doppler effect; Underwater vehicles; Underwater localization; acoustic localization; target motion analysis
资金
- MOSTBMBF German-Israeli Cooperation in Marine Sciences [3-16573]
- MOST action for Agriculture, Environment, and Water [3-16728]
In this study, a non-convex, partially observable solution called the time difference of arrival target motion analysis (TD-TMA) is proposed for underwater vehicle localization. The method utilizes periodic emissions from a target vehicle and yields accurate positioning results in real sea environments.
We present a non-convex, partially observable solution for underwater vehicle localization, referred to as the time difference of arrival target motion analysis (TD-TMA). TD-TMA is especially suitable for the practical case in which localization ambiguities arise due to a lack of receivers, the effective sound velocity is unknown, and cooperation between the nodes is not available. The method relies on periodic emissions from a target vehicle, which are detected by an observer to yield a series of time difference of arrival (TDoA) measurements. The measurements are arranged in the framework of target motion analysis to obtain a set of localization solutions for the target. Maneuvering of either the target or the observer removes ambiguities and yields a single solution. We formalize TD-TMA as a least squares optimization problem, and solve it in polynomial time. Numerical results show that TD-TMA provides accurate localization performance in terms of both the target's kinematics and positioning, which are close to the posterior Cramer-Rao lower bound. Two sea experiments successfully demonstrate the effectiveness of the solution in real sea environments.
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