Self-Localization of a Deforming Swarm of Underwater Vehicles Using Impulsive Sound Sources of Opportunity
Autor: | Philippe Roux, Jules S. Jaffe, Paul L. D. Roberts, Perry Naughton, Curt Schurgers, Ryan Kastner |
---|---|
Rok vydání: | 2018 |
Předmět: |
0209 industrial biotechnology
Technology Similarity (geometry) General Computer Science Relation (database) Computer science Real-time computing 02 engineering and technology Ambient noise self-localization Track (rail transport) underwater vehicles 020901 industrial engineering & automation Engineering Affordable and Clean Energy Information and Computing Sciences 0202 electrical engineering electronic engineering information engineering General Materials Science 14. Life underwater Underwater Life Below Water General Engineering Swarm behaviour 020206 networking & telecommunications Power (physics) underwater acoustics lcsh:Electrical engineering. Electronics. Nuclear engineering lcsh:TK1-9971 |
Zdroj: | Naughton, P; Roux, P; Schurgers, C; Kastner, R; Jaffe, JS; & Roberts, PLD. (2018). Self-Localization of a Deforming Swarm of Underwater Vehicles Using Impulsive Sound Sources of Opportunity. IEEE ACCESS, 6, 1635-1646. doi: 10.1109/ACCESS.2017.2779835. UC San Diego: Retrieved from: http://www.escholarship.org/uc/item/3nh0431x IEEE Access, Vol 6, Pp 1635-1646 (2018) IEEE ACCESS, vol 6 |
Popis: | There is increasing interest in deploying swarms of underwater vehicles for marine surveys. One of the main challenges when designing these systems is coming up with an appropriate way to localize each vehicle in relation to one another. This paper considers the self-localization of a deforming swarm of subsurface floating vehicles using impulsive sources of opportunity, such as the sounds of snapping shrimp that are present in warm coastal waters. Impulsive sound sources provide high intensity, broadband signals that facilitate accurate arrival time detections across each vehicle. This makes them useful references for a self-localization solution. However, the similarity between different signals presents a significant correspondence problem, which must be solved to provide accurate estimates of the changing geometry of the swarm. A geometric solution to this correspondence problem is shown and an optimization procedure is proposed to track the geometry of a swarm as it changes. The method is verified using a swarm of 17 self-ballasting subsurface floats that independently drifted with currents off of the coast of San Diego, California. The changing geometry of the floats was estimated using both an acoustic localization system and the proposed approach. The two estimates show good agreement, validating our method. We believe that this new localization strategy is useful for high endurance, low power, and multi-vehicle surveys. |
Databáze: | OpenAIRE |
Externí odkaz: |