Sensitivity Analysis for TDoA-Based Localisation in Underwater Sensor Networks (CROSBI ID 681945)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Lončar, Ivan ; Mišković, Nikola
engleski
Sensitivity Analysis for TDoA-Based Localisation in Underwater Sensor Networks
Localisation is a crucial part of underwater monitoring missions. European H2020 project “subCULTron” developed a hybrid underwater sensor network with static underwater sensors capable of relocating during mission execution. The relocation and deployment is done with the aid of autonomous surface vehicles also acting as reference anchors used for underwater localisation. The motivation of this paper is determining the precision of localisation in the area of deployment. In this paper, a method of modelling localisation precision for a projection based TDoA localisation algorithm was developed. Different spatial configurations of reference anchors can greatly impact the quality of localisation. This paper focuses on determining the quality of localisation for a given spatial configuration. Sensitivity analysis to the error in timing measurements was conducted. Simulation results are compared with results of sensitivity analysis. Finally, sensitivity analysis was tested using experimental results gathered in field trials.
localisation, localisation precision, Underwater Acoustic Sensor Network, UASN, Time Difference of Arrival, TDoA, marine robotics, multi-robot systems
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Podaci o prilogu
193-198.
2019.
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objavljeno
10.1016/j.ifacol.2019.12.306
Podaci o matičnoj publikaciji
IFAC-PapersOnLine
Kim, Ayoung
2405-8971
2405-8963
Podaci o skupu
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
predavanje
18.09.2019-20.09.2019
Daegu, Republika Koreja