Hausdorff distance applied on real data experiment for underwater localization (original) (raw)
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Hausdorff distance: A new target localization using single hydrophone
2017
Abstract: This paper addresses the problem of source localization with only one sensor. A new metric called Hausdorff Distance (HD) for an optimal matching, is used for TDOAs best matching between simulations (TDOAs) and real data (TDOAr). To obtain the simulated impulse response, we drive an acoustic ray path propagation method. So we compare these simulated data with TDOA estimated after matched filtering considering a known transmitted signal. Two derivated techniques from HD are presented to find correct position, in range and depth, 1) the Maximum Hausdorff distance and 2) the Median Hausdorff distance. Results in terms of the localization, accuracy are shown in a real tank experiment.
ALMA 2015: Sea Trial of an Underwater Target Localization Technique Using Hausdorff Distance
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO), 2018
The fundamental and practical problem of passive localization in range and depth, of an acoustic underwater source is addressed, with application to an at-sea experiment. We propose and try a new matching method based on a metric called as Hausdorff distance as a cost-function to be minimized, in order to perform the localization inversion. The data set analyzed here was collected during the DGA campaign ALMA 2015, which took place in a shallow water environment of the southern coast of France. Acoustic data were measured over a 10m-high vertical linear array (VLA), composed of 64 hydrophones. The 2-D localization, in range and depth, is performed by matching the patterns of time difference of arrival (TDOA), between respectively observed and modeled sequences. Several variants of the Hausdorff Distance are applied, firstly separately in each single hydrophone, and then combined in order to improve the localization accuracy, reducing the ambiguity either is depth and in range. The performance is evaluated in terms of the localization accuracy of the proposed method, in a context of passive localization with a cooperative system considering a motionless target. Very satisfactory performance and accuracy are obtained.
A Survey on Underwater Localization, Localization Techniques and Its Algorithms
Proceedings of the 3rd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2017)
Underwater localization are an importantpart of underwater sensor networks (USNs). USNs attracted significant attention, they are widely used for many applications, such as tsunami before the reaching inhabited areas, pollution monitoring, civilian and military applicationsOcean resource exploration, USNs which are mounted on the ocean bottom can detect earth quakes and Ocean monitoring. The variable speed of sound and the non-negligible node mobility due to water currents create a unique set of challenges for localization in UWSNs. This present a comprehensive survey of different techniques which are employed in USNs. This survey paper mainly focus on USNs, Localization techniques and its algorithms.
Accuracy and precision studies for range-only underwater target tracking in shallow waters
2017
This paper studies the precision, and the accuracy, of an underwater target tracking system, using range-only and single-beacon methods, in shallow waters environments. For this study, different field tests have been realized in the OBSEA test site, a well-known and monitored area at 4 km from the coast and at 20 meters of depth, in the Mediterranean Sea (Barcelona). The tests have been conducted using two acoustic underwater modems from the company LinkQuest Inc. Moreover, the autonomous underwater vehicle developed by the Universitat Politècnica de Catalunya (called Guanay II) have also used to perform the tests.
Underwater TDOA Acoustical Location Based on Majorization-Minimization Optimization
Sensors, 2020
Underwater acoustic localization is a useful technique applied to any military and civilian applications. Among the range-based underwater acoustic localization methods, the time difference of arrival (TDOA) has received much attention because it is easy to implement and relatively less affected by the underwater environment. This paper proposes a TDOA-based localization algorithm for an underwater acoustic sensor network using the maximum-likelihood (ML) ratio criterion. To relax the complexity of the proposed localization complexity, we construct an auxiliary function, and use the majorization-minimization (MM) algorithm to solve it. The proposed localization algorithm proposed in this paper is called a T-MM algorithm. T-MM is applying the MM algorithm to the TDOA acoustic-localization technique. As the MM algorithm iterations are sensitive to the initial points, a gradient-based initial point algorithm is used to set the initial points of the T-MM scheme. The proposed T-MM locali...
Underwater source localization problems are complicated and challenging: a) the sound propagation speed is often unknown and the unpredictable ocean current might lead to the uncertainties of sensor parameters (i.e. position and velocity); b) the underwater acoustic signal travels much slower than the radio one in terrestrial environments, thus resulting into a significantly severe Doppler effect; c) energy-efficient techniques are urgently required and hence in favour of the design with a low computational complexity. Considering these issues, we propose a simple and efficient underwater source localization approach based on time difference of arrival (TDOA) and frequency difference of arrival (FDOA) measurements, which copes with unknown propagation speed and sensor parameter errors. The proposed method mitigates the impact of the Doppler effect for accurately inferring the source parameters (i.e. position and velocity). The Cramér-Rao lower bounds (CRLBs) for this kind of localization are derived and, moreover, the analytical study shows that our method can yield the performance that is very close to the CRLB, particularly under small noise. The numerical results not only confirm the above conclusions but also show that our method outperforms other competing approaches. Index Terms—Underwater localization, algebraic solution, sound propagation speed uncertainty, sensor node uncertainty, time difference of arrival (TDOA), frequency difference of arrival (FDOA).
Accurate Localization in Acoustic Underwater Localization Systems
Sensors
In underwater localization systems several sources of error may impact in different ways the accuracy of the final position estimates. Through simulations and statistical analysis it is possible to identify and characterize such sources of error and their relative importance. This is especially of use when an accurate localization system has to be designed within required accuracy prescriptions. This approach allows one to also investigate how much these sources of error influence the final position estimates achieved by an Extended Kalman Filter (EKF). This paper presents the results of experiments designed in a virtual environment used to simulate real acoustic underwater localization systems. The paper intends to analyze the main parameters that significantly influence the position estimates achieved by a Short Baseline (SBL) system. Specifically, the results of this analysis are presented for a proprietary localization system constituted by a surface platform equipped with four ...
Annual of Navigation
The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV) using two methods: dead reckoning (DR) and extended Kalman filter (EKF). In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.