Multistatic Sonar Localization With a Transmitter

Jia, Tianyi; Shen, Xiaohong; Wang, Haiyan

doi:10.1109/access.2019.2934737

Cited by 16 publications

(7 citation statements)

References 36 publications

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“…As the noise models of the sonar and camera can fit the Gaussian distribution well [59]- [61], the conditional probability of 2 t 1 can be written as,…”

Section: Fusion Algorithmmentioning

confidence: 99%

An Integrated Visual Odometry System With Stereo Camera for Unmanned Underwater Vehicles

Haroutunian

Murphy

et al. 2022

IEEE Access

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Navigation is a challenging problem in the area of underwater unmanned vehicles, due to the significant electronmagnetic wave attenuation and the uncertainties in underwater environments. The conventional methods, mainly implemented by acoustic devices, suffer limitations such as high cost, terrain effects and low refresh rate. In this paper, a novel low-cost underwater visual navigation method, named Integrated Visual Odometry with a Stereo Camera (IVO-S), has been investigated. Unlike pure visual odometry, the proposed method fuses the information from inertial sensors and a sonar so that it is able to work in context-sparse environments. In practical experiments, the vehicle was operated to follow specific closed-loop shapes. The Integrated Visual Odoemtry with Monocular Camera (IVO-M) method and other popular open source Visual SLAMs (Simultaneous Localisation and Mappings), such as ORB-SLAM2 and VINS-Mono, have been used to provide comparative results. The cumulative error ratio is used as the quantitative evaluation method to analyse the practical test results. It is shown that the IVO-S method is able to work in underwater sparse-feature environments with high accuracy, whilst also being a low cost solution. INDEX TERMSUnderwater navigation, underwater vehicles, visual-inertial odometry, sensor fusion. sonar imaging, and wireless sensor networks at Newcastle University, in 2007, where he is currently a Senior Lecturer of communications and signal processing with the School of Electrical and Electronic Engineering. He has published over 100 conference and journal publications and his work on underwater acoustic communication and positioning has been commercialised by three U.K. companies. His research interests include underwater acoustic signal processing and device design, wireless communication networks, and biomedical instrumentation. ROSE NORMAN (Senior Member, IEEE) received the B.Eng. degree in electrical and electronic engineering from Leeds University, U.K., in 1989, and the M.Sc. and Ph.D. degrees in electrical engineering from Bradford University, U.K., in 1990 and 1994, respectively. She was the Principle Engineer at Switched Reluctance Drives Ltd., in 2004, where she is currently a Senior Lecturer with the School of Engineering. Her research interests include underwater vehicles, marine robotics and automation, and marine applications of data analytics and machine learning.

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“…As the noise models of the sonar and camera can fit the Gaussian distribution well [59]- [61], the conditional probability of 2 t 1 can be written as,…”

Section: Fusion Algorithmmentioning

confidence: 99%

An Integrated Visual Odometry System With Stereo Camera for Unmanned Underwater Vehicles

Haroutunian

Murphy

et al. 2022

IEEE Access

View full text Add to dashboard Cite

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“…In [85], the problem of multi-static sonar with a transmitter has been addressed. Two solutions based on TOA and AOA measurements to estimate the object were proposed in that study.…”

Section: Maximum Likelihood Estimator (Mle)mentioning

confidence: 99%

“…Need synchronization between all sensors, affected by NLOS errors, and more than two sensors are needed [76,85].…”

Section: Lsmentioning

confidence: 99%

A Survey for Recent Techniques and Algorithms of Geolocation and Target Tracking in Wireless and Satellite Systems

et al. 2021

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A single Radio-Frequency Interference (RFI) is a disturbance source of modern wireless systems depending on Global Navigation Satellite Systems (GNSS) and Satellite Communication (SatCom). In particular, significant applications such as aeronautics and satellite communication can be severely affected by intentional and unintentional interference, which are unmitigated. The matter requires finding a radical and effective solution to overcome this problem. The methods used for overcoming the RFI include interference detection, interference classification, interference geolocation, tracking and interference mitigation. RFI source geolocation and tracking methodology gained universal attention from numerous researchers, specialists, and scientists. In the last decade, various conventional techniques and algorithms have been adopted in geolocation and target tracking in civil and military operations. Previous conventional techniques did not address the challenges and demand for novel algorithms. Hence there is a necessity for focussing on the issues associated with this. This survey introduces a review of various conventional geolocation techniques, current orientations, and state-of-the-art techniques and highlights some approaches and algorithms employed in wireless and satellite systems for geolocation and target tracking that may be extremely beneficial. In addition, a comparison between different conventional geolocation techniques has been revealed, and the comparisons between various approaches and algorithms of geolocation and target tracking have been addressed, including H∞ and Kalman Filtering versions that have been implemented and investigated by authors.

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“…Target localization using a set of measurements collected by several sonars that can be classified into passive sonar and active sonar is a fundamental problem in many applications including detection, surveillance and navigation [1][2][3][4][5][6][7]. The key to underwater target localization is to ascertain the uncharted position utilising acoustic data measured via the sonar system.…”

Section: Introductionmentioning

confidence: 99%

A cost‐efficient joint target location and clock bias estimation technique using multiple time step measurements in mobile bistatic sonar

Zhang

Shi

et al. 2021

IET Radar Sonar & Navi

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Active localization of a stationary target is one key issue in applications of bistatic sonar based on bistatic range (BR) measurement. However, the complex underwater environment makes achieving the synchronization between the transmitted station and the received station difficult. For solving the synchronization problem, this study relies on mobile bistatic sonar to acquire measurement information at multiple time steps. After that, the target location and clock bias are jointly estimated by solving a non-linear least square problem. To this end, a recursive scheme is proposed to optimise the measurement cost and reduce the impact of the initial value to achieve accurate estimation by taking full advantage of the redundant measurement information. Orthogonal transformation is used to ensure computational efficiency and numerical reliability. The Cramer-Rao Lower Bound (CRLB) is also derived as a lower bound on the error in estimating the target position and clock bias. Simulation results show that the proposed method achieves the CRLB performance and optimises the measurement cost over the small error region under Gaussian noise.

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Multistatic Sonar Localization With a Transmitter

Cited by 16 publications

References 36 publications

An Integrated Visual Odometry System With Stereo Camera for Unmanned Underwater Vehicles

An Integrated Visual Odometry System With Stereo Camera for Unmanned Underwater Vehicles

A Survey for Recent Techniques and Algorithms of Geolocation and Target Tracking in Wireless and Satellite Systems

A cost‐efficient joint target location and clock bias estimation technique using multiple time step measurements in mobile bistatic sonar

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