Pregled bibliografske jedinice broj: 1025939
Sensitivity Analysis for TDoA-Based Localisation in Underwater Sensor Networks
Sensitivity Analysis for TDoA-Based Localisation in Underwater Sensor Networks // IFAC-PapersOnLine, Volume 52, Issue 21 / Kim, Ayoung (ur.).
Daegu, Republika Koreja, 2019. str. 193-198 doi:10.1016/j.ifacol.2019.12.306 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1025939 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Sensitivity Analysis for TDoA-Based Localisation in Underwater Sensor Networks
Autori
Lončar, Ivan ; Mišković, Nikola
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
IFAC-PapersOnLine, Volume 52, Issue 21
/ Kim, Ayoung - , 2019, 193-198
Skup
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
Mjesto i datum
Daegu, Republika Koreja, 18.09.2019. - 20.09.2019
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
localisation, localisation precision, Underwater Acoustic Sensor Network, UASN, Time Difference of Arrival, TDoA, marine robotics, multi-robot systems
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
EK-H2020-731103 - Istraživačka infrastrukturna mreža u području pomorske robotike (EUMarineRobots) (Mišković, Nikola, EK ) ( CroRIS)
EK-H2020-640967 - Podvodne kulture koje provode dugotrajno robotsko istraživanje nekonvencionalnih okoliša (subCULTron) (Mišković, Nikola, EK ) ( CroRIS)
HRZZ-IP-2016-06-2082 - Kooperativna robotika u nadzoru i istraživanju mora (CroMarX) (Mišković, Nikola, HRZZ ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
