Acoustic Source Localization Based On the Extended Kalman Filter for an Underwater Vehicle with a Pair of Hydrophones
In this study, we consider a special situation that only a pair of hydrophone on a moving underwater vehicle is available to localize a fixed acoustic source of far distance. The trigonometry can be used in this situation by using two different DOA of different locations. Notice that the distance between the two locations should be measured. Therefore, we assume that the vehicle is sailing straightly and the moving distance for each unit time is measured continuously. However, the accuracy of the localization using the trigonometry is highly dependent to the accuracy of DOAs and measured moving distances. Therefore, we proposed another method based on the extended Kalman filter that gives more robust and accurate localization result.
[1] Z. Zhou. J. Cui, and A. Bagatzoglou, Scalable Localization with Mobility
Prediction for Underwater Sensor Networks, in 2008 IEEE INFOCOM
Conf., pp.2198-2206.
[2] Z. Zhou , J. Cui , S. Zhou, Localization for large-scale underwater sensor
networks, Proc. the 6th international IFIP-TC6 Conf. on Ad Hoc and
sensor networks, wireless networks, next generation internet, May 14-18,
2007, Atlanta, GA, USA, pp.108-119.
[3] P. Corke, C. Detweiler, M Dumbabin, M. Hamilton, D. Rus, and I.
Vasilescu, Experiments with Underwater Robot Localization and Tracking,
Proc. IEEE Int. Conf. Robotics and Automation, pp.4556 4561, April
2007.
[4] N. Y. Ko, T. G. Kim, and S. W. Noh, Monte Carlo Localization of
Underwater Robot Using Internal and Exter nal Information, IEEE Conf.
Asia-Pacific Services Computing, pp.410 415, Dec 2011.
[5] B.A.A.P. Balasuriya, M. Takai, W.C. Lam, T. Ura, and Y. Kuroda,
Vision based autonomous underwater vehicle navigation: underwater
cable tracking, Proc. OCEANS 97. MTS/IEEE Conf., 14181424 vol.2,
Oct 1997.
[6] L. Stutters, H. Liu, C. Tiltman, and D. J. Brown, Navigation technologies
for autonomous underwater vehicles, IEEE Trans. Syst. Man Cybern. C,
Appl. Rev., vol. 38, no. 4, pp. 581589, Jul. 2008.
[7] K. T. Wong and M. D. Zoltowski, Closed-form underwater acoustic
direction-finding with arbitrarily spaced vector hydrophones at unknown
locations, IEEE J. Oceanic Eng., vol. 22, no. 3, pp. 566575, July 1997.
[8] K. T. Wong and M. D. Zoltowski, Extended-aperture underwater acoustic
multi-source azimuth/elevation direction-finding using uniformly but
sparsely spaced vector hydrophones, IEEE J. Oceanic Eng., vol. 22, no.
4, pp. 659672, Oct. 1997.
[9] K. T. Wong, and M. K. AWAD, Source Tracking with Multiple-
Forgetting-Factor RLS Using a Vector-Hydrophone Away From or Near
a Reflecting Boundary, IEEE Conf. OCEANS, pp. 1-4, May 2007.
[10] N. Zou, C.C. Swee, B.A.L Chew, Vector Hydrophone Array Development
and its Associated DOA Estimation Algorithms, in the Proceedings
of OCEANS Asia Pacific, pp. 1-5, Singapore, May 2006.
[11] J. Li, and X. Zhang, Improved Joint DOD and DOA Estimation for
MIMO Array With Velocity Receive Sensors, IEEE Signal Processing
Lett., vol. 18, issue. 12, pp/ 717-720, Dec, 2011.
[12] H. Lai and K. Bell and H. Cox, DOA Estimation using Vector Sensor
Arrays, 42nd Asilomar Conference on Signals, Systems and Computers,
2009.
[13] Q. Zhang, and J. Huang, N. Zou, Joint estimation of DOA and time-delay
in underwater localization, Proc. IEEE International Conf. on Acoustic,
Speech, and Signal Processing, vol. 5, pp. 2817-2820, 1999.
[14] D. Carevic, Automatic estimation of multiple target positions and velocities
using passive TDOA measurements of transients, IEEE Trans.Signal
Process., vol. 55, no. 2, pp. 424436, Feb. 2007.
[15] L. Yang and K. C. Ho, An Approximately Efficient TDOA Localization
Algorithm in Closed-Form for Locating Multiple Disjoint Sources With
Erroneous Sensor Positions, IEEE Transactions on Signal Processing, vol.
57, pp. 45984615, Dec. 2009.
[16] D. Carevic, Detection and Tracking of Underwater Targets Using
Directional Sensors, Proc. of Intelligent Sensors, Sensor Networks and
Information, 2007 3rd International Conf., 2007, pp. 143-148.
[17] Z. Yang, W. Xu, Z. Xiao, and X. Pan, Passive localization of an
Autonomous Underwater Vehicle with periodic sonar signaling, IEEE
Conf. OCEANS, pp. 1-4, May 2010.
[18] M. Cai, B. Bingham, Passive acoustic detection of a small remotely
operated vehicle, IEEE Conf. OCEANS, pp. 1-7, June 2011.
[1] Z. Zhou. J. Cui, and A. Bagatzoglou, Scalable Localization with Mobility
Prediction for Underwater Sensor Networks, in 2008 IEEE INFOCOM
Conf., pp.2198-2206.
[2] Z. Zhou , J. Cui , S. Zhou, Localization for large-scale underwater sensor
networks, Proc. the 6th international IFIP-TC6 Conf. on Ad Hoc and
sensor networks, wireless networks, next generation internet, May 14-18,
2007, Atlanta, GA, USA, pp.108-119.
[3] P. Corke, C. Detweiler, M Dumbabin, M. Hamilton, D. Rus, and I.
Vasilescu, Experiments with Underwater Robot Localization and Tracking,
Proc. IEEE Int. Conf. Robotics and Automation, pp.4556 4561, April
2007.
[4] N. Y. Ko, T. G. Kim, and S. W. Noh, Monte Carlo Localization of
Underwater Robot Using Internal and Exter nal Information, IEEE Conf.
Asia-Pacific Services Computing, pp.410 415, Dec 2011.
[5] B.A.A.P. Balasuriya, M. Takai, W.C. Lam, T. Ura, and Y. Kuroda,
Vision based autonomous underwater vehicle navigation: underwater
cable tracking, Proc. OCEANS 97. MTS/IEEE Conf., 14181424 vol.2,
Oct 1997.
[6] L. Stutters, H. Liu, C. Tiltman, and D. J. Brown, Navigation technologies
for autonomous underwater vehicles, IEEE Trans. Syst. Man Cybern. C,
Appl. Rev., vol. 38, no. 4, pp. 581589, Jul. 2008.
[7] K. T. Wong and M. D. Zoltowski, Closed-form underwater acoustic
direction-finding with arbitrarily spaced vector hydrophones at unknown
locations, IEEE J. Oceanic Eng., vol. 22, no. 3, pp. 566575, July 1997.
[8] K. T. Wong and M. D. Zoltowski, Extended-aperture underwater acoustic
multi-source azimuth/elevation direction-finding using uniformly but
sparsely spaced vector hydrophones, IEEE J. Oceanic Eng., vol. 22, no.
4, pp. 659672, Oct. 1997.
[9] K. T. Wong, and M. K. AWAD, Source Tracking with Multiple-
Forgetting-Factor RLS Using a Vector-Hydrophone Away From or Near
a Reflecting Boundary, IEEE Conf. OCEANS, pp. 1-4, May 2007.
[10] N. Zou, C.C. Swee, B.A.L Chew, Vector Hydrophone Array Development
and its Associated DOA Estimation Algorithms, in the Proceedings
of OCEANS Asia Pacific, pp. 1-5, Singapore, May 2006.
[11] J. Li, and X. Zhang, Improved Joint DOD and DOA Estimation for
MIMO Array With Velocity Receive Sensors, IEEE Signal Processing
Lett., vol. 18, issue. 12, pp/ 717-720, Dec, 2011.
[12] H. Lai and K. Bell and H. Cox, DOA Estimation using Vector Sensor
Arrays, 42nd Asilomar Conference on Signals, Systems and Computers,
2009.
[13] Q. Zhang, and J. Huang, N. Zou, Joint estimation of DOA and time-delay
in underwater localization, Proc. IEEE International Conf. on Acoustic,
Speech, and Signal Processing, vol. 5, pp. 2817-2820, 1999.
[14] D. Carevic, Automatic estimation of multiple target positions and velocities
using passive TDOA measurements of transients, IEEE Trans.Signal
Process., vol. 55, no. 2, pp. 424436, Feb. 2007.
[15] L. Yang and K. C. Ho, An Approximately Efficient TDOA Localization
Algorithm in Closed-Form for Locating Multiple Disjoint Sources With
Erroneous Sensor Positions, IEEE Transactions on Signal Processing, vol.
57, pp. 45984615, Dec. 2009.
[16] D. Carevic, Detection and Tracking of Underwater Targets Using
Directional Sensors, Proc. of Intelligent Sensors, Sensor Networks and
Information, 2007 3rd International Conf., 2007, pp. 143-148.
[17] Z. Yang, W. Xu, Z. Xiao, and X. Pan, Passive localization of an
Autonomous Underwater Vehicle with periodic sonar signaling, IEEE
Conf. OCEANS, pp. 1-4, May 2010.
[18] M. Cai, B. Bingham, Passive acoustic detection of a small remotely
operated vehicle, IEEE Conf. OCEANS, pp. 1-7, June 2011.
@article{"International Journal of Electrical, Electronic and Communication Sciences:60340", author = "ByungHoon Kang and Jeawook Shin and Ju-man Song and Hyun-Taek Choi and PooGyeon Park", title = "Acoustic Source Localization Based On the Extended Kalman Filter for an Underwater Vehicle with a Pair of Hydrophones", abstract = "In this study, we consider a special situation that only a pair of hydrophone on a moving underwater vehicle is available to localize a fixed acoustic source of far distance. The trigonometry can be used in this situation by using two different DOA of different locations. Notice that the distance between the two locations should be measured. Therefore, we assume that the vehicle is sailing straightly and the moving distance for each unit time is measured continuously. However, the accuracy of the localization using the trigonometry is highly dependent to the accuracy of DOAs and measured moving distances. Therefore, we proposed another method based on the extended Kalman filter that gives more robust and accurate localization result.
", keywords = "Localization, acoustic, underwater, extended Kalman
filter.", volume = "6", number = "10", pages = "1202-4", }
