Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments

Bayat, Mohammadreza; Crasta, Naveena; Aguiar, A. Pedro; Pascoal, António

doi:10.1109/tcst.2015.2420636

Cited by 95 publications

(39 citation statements)

References 25 publications

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“…represents the total communication noises (or measurement errors) appear in sensors at time t , which is assumed as white Gaussian noise. Stacking (12) into an augmented form, that is, P D .P 1 ; ; P M / T and p D .p 1 ; ; p M / T ; one has…”

Section: Lemmamentioning

confidence: 99%

“…However, the communication conditions underwater are always rough, and the man-made (or ambient) noises cannot be ignored [10]. As it is pointed in [11], the localization errors for the range-based schemes are closely related to the precision of distance measurements, and the existence of even a small measurement error may result in no-solution for the trilateration methods [7,12]. On the other hand, range-free based schemes do not need distance measurements [13,14], but can only provide coarse localization information.…”

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confidence: 99%

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Consensus estimation‐based target localization in underwater acoustic sensor networks

Yan

Wan

et al. 2016

Intl J Robust & Nonlinear

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Target localization, which aims to estimate the location of an unknown target, is one of the key issues in applications of underwater acoustic sensor networks (UASNs). However, the resource-constrained property of an underwater environment such as noise makes target localization a challenging problem. This paper considers a consensus estimation-based approach to the target localization problem in UASNs. To detect and acquire the position of the target, a hybrid architecture is applied to UASNs, where autonomous underwater vehicles provide self-location and clock synchronization for sensor nodes. Built on this architecture, a trilateration method coupled with a regional optimal solution is provided to estimate the rough localization of a target. Furthermore, a consensus estimation-based algorithm is designed for the regional optimal solution, such that localization accuracy is improved. In the presence of measurement and communication noises, localization error and asymptotic unbiasedness for the estimation algorithm are also investigated. Finally, simulation results show that the proposed localization approach can avoid the occurrence of nosolution while improving the localization accuracy. In addition, the hybrid communication architecture can reduce the number of transmissions compared with egalitarian decentralized networks. . 1608 J. YAN ET AL.error accumulation problem is the principal issue to be addressed in this paper. Subsequently, sensing sensors are required to achieve the underwater target localization task. To address this problem, a variety of localization schemes have been proposed. Generally speaking, these schemes can be classified into two categories: range-based schemes and range-free schemes. Range-based schemes rely on various mechanisms such as time of arrival, time difference of arrival, angle of arrival, or received signal strength indicator to measure the distances and then convert these distance measurements to position information. For instance, a time difference of arrival-based localization algorithm was proposed in [6] to localize swarms of autonomous underwater vehicles (AUVs). In [7], an energyaware localization algorithm was presented to collaboratively localize an underwater target with minimum energy consumption. In addition, sonar arrays towed by ships or submersibles were also used to achieve the target localization task [8,9]. These range-based results are well framed without considering the measurement errors. As we know, the noises are ignored in the general localization problem, because of the good communication conditions in terrestrial environment. However, the communication conditions underwater are always rough, and the man-made (or ambient) noises cannot be ignored [10]. As it is pointed in [11], the localization errors for the range-based schemes are closely related to the precision of distance measurements, and the existence of even a small measurement error may result in no-solution for the trilateration methods [7,12]. On the other hand, range-free based schemes d...

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Section: Lemmamentioning

confidence: 99%

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confidence: 99%

Consensus estimation‐based target localization in underwater acoustic sensor networks

Yan

Wan

et al. 2016

Intl J Robust & Nonlinear

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“…The analysis in the previous sections is based on the constraint (7), which assumes that the target is stationary with respect to the reference frame that encodes the known trajectory y(t) of the agent, i.e. x is a constant vector.…”

Section: Drifting Targetmentioning

confidence: 99%

“…In this work, only distance-based methods will be considered. Notably, the distance-based localization problem, also known as rangebased, has been widely investigated together with its application to the case of underwater vehicles navigation (see [5], [6], [7]). Among other range-based localization methods, the algorithms proposed in [8], [9] calculate the coordinate of the target by fusing the data collected by multiple agents.…”

Section: Introductionmentioning

confidence: 99%

Deadbeat source localization from range-only measurements: A robust kernel-based approach

Pin¹,

Parisini

Fedele

2016

2016 American Control Conference (ACC)

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This paper presents a novel framework for the problem of target localization based on the range information collected by a single mobile agent. The proposed methodology exploits the algebra of Volterra integral operators to annihilate the influence of initial conditions on the transient phase, thus achieving a deadbeat performance. The robustness properties against additive measurement perturbations are analyzed and the bias caused by the time-discretization is characterized as well. Extensive simulation results and comparisons are provided showing the effectiveness of the proposed technique in coping with both stationary and drifting targets.

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Section: Introductionmentioning

confidence: 99%

Deadbeat Source Localization From Range-Only Measurements: A Robust Kernel-Based Approach

Fedele

et al. 2019

IEEE Trans. Contr. Syst. Technol.

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Abstract-This paper presents a novel framework for the problem of target localization based on the range information collected by a single mobile agent. The proposed methodology exploits the algebra of Volterra integral operators to annihilate the influence of initial conditions on the transient phase, thus achieving a deadbeat performance. The robustness properties against additive measurement perturbations are analyzed and the bias caused by the time-discretization is characterized as well. Extensive simulation results and comparisons are provided showing the effectiveness of the proposed technique in coping with both stationary and drifting targets.

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Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments

Cited by 95 publications

References 25 publications

Consensus estimation‐based target localization in underwater acoustic sensor networks

Consensus estimation‐based target localization in underwater acoustic sensor networks

Deadbeat source localization from range-only measurements: A robust kernel-based approach

Deadbeat Source Localization From Range-Only Measurements: A Robust Kernel-Based Approach

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