Trajectory Optimization of Autonomous Surface Vehicles with Outliers for Underwater Target Localization

Abstract

Location awareness is crucial for underwater applications; without it, gathered data would be essentially useless. However, it is impossible to directly determine the location of an underwater target because GPS-reliant methods cannot be utilized in the underwater environment. To this end, the underwater target localization technique has become one of the most critical technologies in underwater applications, wherein GPS-equipped autonomous surface vehicles (ASVs) are typically used to assist with localization. It has been proved that, under the assumption of Gaussian noise, an appropriate geometry among ASVs and the underwater target can enhance localization accuracy. Unfortunately, the conclusion may not hold if outliers arise and the closed-form expression of Cramér–Rao lower bound (CRLB) cannot be established. Eventually, it becomes hard to derive the accepted geometry, particularly for the received signal strength (RSS)-based ranging scenario. Therefore, this work optimizes the trajectory of ASVs with RSS-based ranging and in the presence of outliers to optimally estimate the location of an underwater target. The D-optimality criterion is applied in conjunction with the Monte Carlo method to determine the closed-form expression of the function, which then transforms the problem into an optimized framework. Nevertheless, the framework cannot be solved in the absence of the target location. In this case, the paper presents two methodologies to overcome the issue and achieve the optimum configuration without identifying the target location. (1) A min–max strategy that assumes that the target location drops in an uncertain region for a single or two ASVs is proposed; and (2) a two-phase localization approach (TPLA) that calculates the target location at each time slot for three ASVs is developed. Finally, the optimal trajectories of ASVs are constructed by a series of waypoints based on an analytically tractable measurement model in various conditions.