Signal processing agorithms for unmanned undersea vehicles navigation and collision avoidance.

Abstract

In this paper, signal processing algorithms for dynamic UUV homing and docking, navigation, and collision avoidance are presented. Many conventional techniques are image-based, which involved computation-intensive image reconstruction procedures, which is ineffective in dynamic real-time environment. Therefore, it is of great importance to develop computationally effective signal processing algorithms for high-precision UUV geolocation. To optimize the applicability, the algorithms presented in this paper cover all key modalities, including both active and passive, with temporal pulse and FMCW signal formats. In terms of operating configurations, the first case is classified as the passive-receiver systems. The transmitting signal format for this case is in the form of a twin-pulse set, with opposite polarity. The bearing angle is estimated from the temporal offset of the pulses. The dual version of this configuration is in the form of an active system and the double-integration algorithm can be effectively applied to both versions. The active configuration can then be extended to incorporate the FMCW signaling format. For the FMCW case, estimation of the bearing angle and range distance can be accomplished with the Fourier transform methods. In this paper, the presentation includes theoretical analysis, signal processing algorithms, and experiments.