Title :
Improvements in the estimated time of flight of acoustic signals for AUV localization
Author :
Pinheiro, B.C. ; Moreno, U.F. ; de Sousa, J.T.B. ; Rodriguezz, O.C.
Author_Institution :
Dept. of Autom. & Syst. (DAS), Fed. Univ. of Santa Catarina, Florianopolis, Brazil
Abstract :
The problem acoustic localization for autonomous underwater vehicles (AUVs) is discussed in the framework of kernel-based models. The approach consists of improving the measurement of time of fligth of acoustic signals with the help of the Auto-Associative Kernel Regression (AAKR). This makes localization less sensitive to perturbations in the acoustic channel improving the estimation filter convergence. Field tests with vehicle confirmed these claims.
Keywords :
acoustic signal processing; autonomous underwater vehicles; regression analysis; AAKR; AUV localization; acoustic channel; acoustic signals; autoassociative kernel regression; autonomous underwater vehicles; estimation filter convergence; field test; kernel-based model; time-of-flight estimation; Acoustic measurements; Acoustics; Estimation; Navigation; Sensors; Time measurement; Vehicles;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6608178
