Abstract
A distributed array of autonomous underwater gliders, each fitted with a vector sensor measuring acoustic pressure and velocity, form an autonomous sensor network theoretically capable of detecting and tracking objects in an ocean environment. However, uncertainties in sensor positions impede the ability of this glider network to perform optimally. Our work aims to compare the performance of coherent and incoherent processing for acoustic source localization using an array of underwater gliders. Data used in the study were obtained from numerical simulations as well as experimental data collected using the research vessel as a source for localization purposes. By estimating the vessel position with a single glider’s data (incoherent) and comparing to the location estimated with both gliders’ data (coherent), it was determined that location estimation accuracy could be improved using coherent processing, provided the gliders’ positions could be measured with sufficient precision. The results of this study could potentially aid the design and navigation strategies of future glider networks with a large number of elements.
Published Version
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