Naslov
Maximum likelihood based underwater localization algorithm aided with depth measurements

Autori
Lončar, Ivan ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IFAC PapersOnLine 55-31 (2022) / Monteriù, Andrea - : Elsevier, 2022, 491-496

Skup
14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2022)

Mjesto i datum
Kongens Lyngby, Danska, 14.09.2022. - 16.09.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
underwater localization, tdoa, acoustic localization, uasn, marine robotics

Sažetak
Environmental monitoring applications are growing in popularity as the awareness of severe climate change risk rises. In recent times, the focus is moving toward using autonomous robotic systems for underwater monitoring missions. Underwater localization is a crucial part that often requires expensive equipment and labor. Reducing deployment cost and effort can be achieved through the utilization of autonomous surface vessels (ASV) for underwater localization of acoustic sensor networks. In this paper we propose a modification of TDoA-based AML localization algorithm which incorporates depth measurements in position determination procedure. Due to specific nature of the application the algorithm was analyzed in situations that commonly arise in underwater localization missions, which is localizing underwater agent using surface positioned acoustic anchors. Localization performance is analyzed for different locations and noise levels. Sensor depth influence on localization performance was investigated.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA