GNSS 동기 해상 부이 네트워크 기반 TDOA 수중 표적 위치 추정

Abstract

Time Difference of Arrival (TDOA) localization using GNSS-synchronized surface buoys offers a promising solution for underwater emitter tracking without direct cable or acoustic links. However, the achievable localization accuracy depends on the interplay of buoy geometry, time-synchronization errors, and dynamic tracking constraints. This paper presents a quantitative analysis of these trade-offs using both static and dynamic scenarios. For static localization, Geometric Dilution of Precision (GDOP) and Root Mean Square Error (RMSE) are evaluated under varying buoy formations and clock errors. For dynamic tracking, an Extended Kalman Filter (EKF) framework incorporating realistic ping update rates is applied to evaluate track persistence and accuracy over time. Simulation results show that the buoy geometry strongly influences GDOP patterns and error sensitivity, time-synchronization errors above the millisecond scale rapidly degrade localization performance, and in dynamic tracking, slower ping rates combined with unfavorable geometries can cause error plateaus even when filtering is applied. These findings provide practical guidelines for designing GNSS-synchronized buoy networks by balancing geometry selection, synchronization precision, and update rate according to operational requirements.