This paper considers the problem of estimating the trajectory of an autonomous underwater vehicle (AUV) via a single passive receiver, without any anchor nodes or receiving arrays, and with the only help of a sequence of known acoustic signals emitted by the AUV. This scenario is of interest in case multilateration-based alternatives would require the deployment of many receivers and imply exceedingly high costs, e.g., for the coverage of wide areas. The proposed method exploits the knowledge of environmental parameters such as the sound speed profile, bathymetry and bottom sediments in order to estimate the location of the AUV, taking advantage of the spatial dependency of channel impulse responses that arises from the diverse bathymetry around the receiver. This dependency is captured by comparing channel estimates against a database of channel responses, pre-computed through an acoustic propagation model. This yields multiple likely AUV locations, which are filtered via a path tracking method similar to the Viterbi algorithm, in order to estimate the trajectory of the AUV. Results obtained both from simulations and from a sea experiment show that the proposed method can estimate node locations and paths with a small error, especially considering the use of a single receiver.
References
1.
E.
Dubrovinskaya
, R.
Diamant
, and P.
Casari
, “Anchorless underwater acoustic localization
,” in Proceedings of the IEEE, 14th Workshop on Positioning, Navigation and Communications
(2017
).2.
J. J.
Leonard
and A.
Bahr
, “Autonomous underwater vehicle navigation
,” in Handbook of Ocean Engineering
(Springer
, New York
, 2016
), pp. 341
–358
.3.
Z.
Zhou
, Z.
Peng
, J.-H.
Cui
, Z.
Shi
, and A.
Bagtzoglou
, “Scalable localization with mobility prediction for underwater sensor networks
,” IEEE Trans. Mobile Comput.
10
(3
), 335
–348
(2011
).4.
R.
Diamant
and L.
Lampe
, “Underwater localization with time-synchronization and propagation speed uncertainties
,” IEEE Trans. Mobile Comput.
12
(7
), 1257
–1269
(2013
).5.
K.-C.
Lee
, J.-S.
Ou
, M.-C.
Huang
, and M.-C.
Fang
, “A novel location estimation based on pattern matching algorithm in underwater environments
,” Applied Acoust.
70
(3
), 479
–483
(2009
).6.
H.-P.
Tan
, R.
Diamant
, W. K.
Seah
, and M.
Waldmeyer
, “A survey of techniques and challenges in underwater localization
,” Ocean Eng.
38
(14
), 1663
–1676
(2011
).7.
L.
Paull
, S.
Saeedi
, M.
Seto
, and H.
Li
, “AUV navigation and localization: A review
,” IEEE J. Ocean. Eng.
39
(1
), 131
–149
(2014
).8.
J.
Reis
, M.
Morgado
, P.
Batista
, P.
Oliveira
, and C.
Silvestre
, “Design and experimental validation of a USBL underwater acoustic positioning system
,” Sensors
16
(9
), 1
–23
(2016
).9.
M.
Erol-Kantarci
, H.
Mouftah
, and S.
Oktug
, “Localization techniques for underwater acoustic sensor networks
,” IEEE Commun. Mag.
48
(12
), 152
–158
(2010
).10.
S.
Gezici
, “A survey on wireless position estimation
,” Wireless Pers. Commun.
44
(3
), 263
–282
(2008
).11.
Z.
Zhang
, C. L.
Law
, and Y. L.
Guan
, “Modified phase-only correlator with kurtosis-based amplified-noise suppression
,” IEEE Trans. Wireless Commun.
9
(11
), 3341
–3345
(2010
).12.
L.
Mu
, G.
Kuo
, and N.
Tao
, “A novel ToA location algorithm using LOS range estimation for NLOS environments
,” in Proceedings of the IEEE Transactions on Vehicular Technology
, Melbourne, Australia (2006
).13.
J.
Ash
and R.
Moses
, “Acoustic time delay estimation and sensor network self-localization: Experimental results
,” J. Acoust. Soc. Am.
118
(2
), 841
–850
(2005
).14.
D.
McCrady
, L.
Doyle
, H.
Forstrom
, T.
Dempsey
, and M.
Martorana
, “Mobile ranging using low-accuracy clocks
,” IEEE Trans. Microwave Theory Tech.
48
(6
), 951
–957
(2000
).15.
S.
Fischer
, H.
Grubeck
, A.
Kangas
, H.
Koorapaty
, E.
Larsson
, and P.
Lundqvist
, “Time of arrival estimation of narrowband TDMA signals for mobile positioning
,” in IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)
(1998
), pp. 451
–455
.16.
E.
Dubrovinskaya
, I.
Nissen
, and P.
Casari
, “On the accuracy of passive multipath-aided underwater range estimation
,” in IEEE Third Underwater Communications and Networking Conference (UComms)
, Lerici, Italy (2016
).17.
C. O.
Tiemann
, M. B.
Porter
, and L. N.
Frazer
, “Localization of marine mammals near Hawaii using an acoustic propagation model
,” J. Acoust. Soc. Am.
115
(6
), 2834
–2843
(2004
).18.
J.
Gebbie
, M.
Siderius
, and J. S.
Allen
III, “A two-hydrophone range and bearing localization algorithm with performance analysis
,” J. Acoust. Soc. Am.
137
(3
), 1586
–1597
(2015
).19.
A. B.
Baggeroer
, W. A.
Kuperman
, and P. N.
Mikhalevsky
, “An overview of matched field methods in ocean acoustics
,” IEEE J. Ocean. Eng.
18
(4
), 401
–424
(1993
).20.
J. S.
Perkins
and W.
Kuperman
, “Environmental signal processing: Three-dimensional matched-field processing with a vertical array
,” J. Acoust. Soc. Am.
87
(4
), 1553
–1556
(1990
).21.
K. L.
Gemba
, W. S.
Hodgkiss
, and P.
Gerstoft
, “Adaptive and compressive matched field processing
,” J. Acoust. Soc. Am.
141
(1
), 92
–103
(2017
).22.
S.
Shakeri
and G.
Leus
, “Underwater ultra-wideband fingerprinting-based sparse localization
,” in IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)
, Toronto, Canada
(2014
).23.
S.
Rakotonarivo
and W.
Kuperman
, “Model-independent range localization of a moving source in shallow water
,” J. Acoust. Soc. Am.
132
(4
), 2218
–2223
(2012
).24.
C. M.
Verlinden
, J.
Sarkar
, B. D.
Cornuelle
, and W. A.
Kuperman
, “Determination of acoustic waveguide invariant using ships as sources of opportunity in a shallow water marine environment
,” J. Acoust. Soc. Am.
141
(2
), EL102
–EL107
(2017
).25.
L.
Liao
, Y. V.
Zakharov
, and P. D.
Mitchell
, “Underwater localization based on grid computation and its application to transmit beamforming in multiuser UWA communications
,” IEEE Access
6
, 4297
–4307
(2018
).26.
M. S. I.
Seddik
, L.
Jaulin
, and J.
Grimsdale
, “Phase based localization for underwater vehicles using interval analysis
,” Math. Comp. Sci.
8
(3
), 495
–502
(2014
).27.
H.
Liu
, H.
Darabi
, P.
Banerjee
, and J.
Liu
, “Survey of wireless indoor positioning techniques and systems
,” IEEE Trans. Syst., Man, Cybern. C
37
(6
), 1067
–1080
(2007
).28.
K.
Kaemarungsi
and P.
Krishnamurthy
, “Modeling of indoor positioning systems based on location fingerprinting
,” in IEEE Annual Joint Conference INFOCOM, Computer and Communications Societies
, Hong Kong, China
(2004
), Vol. 2
, pp. 1012
–1022
.29.
Y.
Jin
, W.
Soh
, and W.
Wong
, “Indoor localization with channel impulse response based fingerprint and nonparametric regression
,” IEEE Trans. Wireless Commun.
9
(3
), 1120
–1127
(2010
).30.
X.
Guo
and N.
Ansari
, “Localization by fusing a group of fingerprints via multiple antennas in indoor environment
,” IEEE Trans. Veh. Technol.
66
(11
), 9904
–9915
(2017
).31.
P.
Tseng
, Y.
Chan
, Y.
Lin
, D.
Lin
, N.
Wu
, and T.
Wang
, “Ray-tracing-assisted fingerprinting based on channel impulse response measurement for indoor positioning
,” IEEE Trans. Instrum. Meas.
66
(5
), 1032
–1045
(2017
).32.
N.
Etemadyrad
, “A sequential detection approach to indoor positioning using RSS-based fingerprinting
,” Master's thesis, George Mason University
(2017
).33.
P. K.
Yadav
and W.
Meng
, “Mobile targets localization in a field area using moving Gaussian peaks and probability map
,” in Proceedings of the 11th IEEE International Conference on Control & Automation (ICCA)
, Taichung, Taiwan
(2014
).34.
Z.
Xiao
, H.
Wen
, A.
Markham
, and N.
Trigoni
, “Lightweight map matching for indoor localisation using conditional random fields
,” in Proceedings of the 13th International Symposium on Information Processing in Sensor Networks
, Berlin, Germany (2014
).35.
Z.
Wei
, Y.
Zhao
, X.
Liu
, and Z.
Feng
, “DoA-LF: A location fingerprint positioning algorithm with millimeter-wave
,” IEEE Access
5
, 22678
–22688
(2017
).36.
J.
Palacios
, G.
Bielsa
, P.
Casari
, and J.
Widmer
, “Single- and multiple-access point indoor localization for millimeter-wave networks
,” IEEE Trans. Wireless Commun.
18
(3
), 1927
–1942
(2019
).37.
F.
Jensen
, W.
Kuperman
, M.
Porter
, and H.
Schmidt
, Computational Ocean Acoustics
, 2nd ed. (Springer-Verlag
, New York
, 1984
).38.
39.
P.
Qarabaqi
and M.
Stojanovic
, “Statistical characterization and computationally efficient modeling of a class of underwater acoustic communication channels
,” IEEE J. Ocean. Eng.
38
(4
), 701
–717
(2013
).40.
L. M.
Wolff
, E.
Szczepanski
, and S.
Badri-Hoeher
, “Acoustic underwater channel and network simulator
,” in Proceedings of IEEE OCEANS
, Yeosu, Korea
(2012
), pp. 1
–6
.41.
Note that this information is part of Bellhop's standard output data, and that we do not need to track any propagation history analysis for any of the components of the measured CIR.
42.
R.
Diamant
, “Closed form analysis of the normalized matched filter with a test case for detection of underwater acoustic signals
,” IEEE Access
4
, 8225
–8235
(2016
).43.
R.
Diamant
, H.-P.
Tan
, and L.
Lampe
, “LOS and NLOS classification for underwater acoustic localization
,” IEEE Trans. Mobile Comput.
13
(2
), 311
–323
(2014
).44.
Q.
Wang
, L.
Wei
, and R.
Kennedy
, “Iterative Viterbi decoding, trellis shaping, and multilevel structure for high-rate parity-concatenated TCM
,” IEEE Trans. Commun.
50
(1
), 48
–55
(2002
).45.
L.
Marchetti
and R.
Reggiannini
, “An efficient receiver structure for sweep-spread-carrier underwater acoustic links
,” IEEE J. Ocean. Eng.
41
(2
), 440
–449
(2016
).46.
C.
Boya
, M.
Ruiz-Llata
, J.
Posada
, A.
Garcia-Souto
, and A.
José
, “Identification of multiple partial discharge sources using acoustic emission technique and blind source separation
,” IEEE Trans. Dielectr. Electr. Insul.
22
(3
), 1663
–1673
(2015
).47.
S.
Byun
, S.
Kim
, C.
Park
, K.
Kim
, and C.
Lee
, “Cyclostationary analysis of underwater noise for vehicle propeller monitoring
,” in Proceedings of the MTS/IEEE OCEANS
, Monterey, CA
(2016
).48.
D.
Divins
and D.
Metzger
, “US coastal relief model
,” (2016
), http://www.ngdc.noaa.gov/mgg/coastal/coastal.html (Last viewed November 30, 2019).49.
R.
Diamant
, A.
Knap
, S.
Dahan
, I.
Mardix
, J.
Walpert
, and S.
DiMarco
, “THEMO: The Texas A&M—University of Haifa—Eastern Mediterranean Observatory
,” in Proceedings of MTS/IEEE OCEANS
, Kobe, Japan (2018
).50.
T.
Alexandri
and R.
Diamant
, “A reverse bearings only target motion analysis for autonomous underwater vehicle navigation
,” IEEE Trans. Mobile Comput.
18
(3
), 494
–506
(2019
).51.
Information on low-frequency pingers available at http://www.jwfishers.com/products/pingers-low.html (Last viewed November 30,
2019
).© 2019 Acoustical Society of America.
2019
Acoustical Society of America
You do not currently have access to this content.
