확률적 방향각 추정에 기반한 수중 음원의 위치 인식 기법
Underwater Acoustic Source Localization based on the Probabilistic Estimation of Direction Angle
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초록
Acoustic signal is crucial for the autonomous navigation of underwater vehicles. For thispurpose, this paper presents a method of acoustic source localization. The proposed method is based onthe probabilistic estimation of time delay of acoustic signals received by two hydrophones. UsingBayesian update process, the proposed method can provide reliable estimation of direction angle of theacoustic source. The acquired direction information is used to estimate the location of the acousticsource. By accumulating direction information from various vehicle locations, the acoustic sourcelocalization is achieved using extended Kalman filter. The proposed method can provide a reliableestimation of the direction and location of the acoustic source, even under for a noisy acoustic signal. Experimental results demonstrate the performance of the proposed acoustic source localization methodin a real sea environment.
Abstract
Acoustic signal is crucial for the autonomous navigation of underwater vehicles. For thispurpose, this paper presents a method of acoustic source localization. The proposed method is based onthe probabilistic estimation of time delay of acoustic signals received by two hydrophones. UsingBayesian update process, the proposed method can provide reliable estimation of direction angle of theacoustic source. The acquired direction information is used to estimate the location of the acousticsource. By accumulating direction information from various vehicle locations, the acoustic sourcelocalization is achieved using extended Kalman filter. The proposed method can provide a reliableestimation of the direction and location of the acoustic source, even under for a noisy acoustic signal. Experimental results demonstrate the performance of the proposed acoustic source localization methodin a real sea environment.
참고문헌 (14)
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