Abstract
Acoustic source localization is used in many underwater applications. Acquiring an accurate directional angle for an acoustic source is crucial for source localization. To achieve this purpose, this paper presents a method for directional angle estimation of underwater acoustic sources using a marine vehicle. It is assumed that the vehicle is equipped with two hydrophones and that the acoustic source transmits a specific signal repeatedly. The proposed method provides a probabilistic model for time delay estimation. The probability is recursively updated by prediction and update steps. The prediction step performs a probability transition using the angular displacement of the marine vehicle. The predicted probability is updated using a generalized cross correlation function with a verification process using entropy measurement. The proposed method can provide a reliable and accurate estimation of the directional angles of underwater acoustic sources. Experimental results demonstrate good performance of the proposed probabilistic directional angle estimation method in both an inland water environment and a harbor environment.
Highlights
An acoustic signal is one of the most useful pieces of information in an underwater environment, where the use of other types of sensors is limited: electromagnetic wave signals attenuate rapidly due to a high rate of absorption, and the use of optical sensors is limited due to water turbidity, but acoustic signals can travel over kilometers with low attenuation
Note that the proposed method can be applied to any type of marine vehicle, including autonomous underwater vehicles (AUVs) or remotely operated vehicles (ROVs)
This paper describes a method for the estimation of the directional angle of underwater acoustic sources
Summary
An acoustic signal is one of the most useful pieces of information in an underwater environment, where the use of other types of sensors is limited: electromagnetic wave signals attenuate rapidly due to a high rate of absorption, and the use of optical sensors is limited due to water turbidity, but acoustic signals can travel over kilometers with low attenuation. Several TDOA-based sound source localization methods have been developed using various types of hydrophone arrays Conventional methods, such as the generalized cross correlation (GCC) [10] and beamforming [11], are widely used to estimate. The proposed method estimates the directional angles of static underwater acoustic sources using a moving marine vehicle equipped with two hydrophones. The proposed method provides a well-organized framework for the estimation of the directional information of underwater acoustic signal sources, and can provide robust angular information even when presented with multipath and underwater acoustic noises.
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