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A Time Difference of Arrival Based Target Motion Analysis for Localization of Underwater Vehicles.
- Source :
-
IEEE Transactions on Vehicular Technology . Jan2022, Vol. 71 Issue 1, p326-338. 13p. - Publication Year :
- 2022
-
Abstract
- We present a non-convex, partially observable solution for underwater vehicle localization, referred to as the time difference of arrival target motion analysis (TD-TMA). TD-TMA is especially suitable for the practical case in which localization ambiguities arise due to a lack of receivers, the effective sound velocity is unknown, and cooperation between the nodes is not available. The method relies on periodic emissions from a target vehicle, which are detected by an observer to yield a series of time difference of arrival (TDoA) measurements. The measurements are arranged in the framework of target motion analysis to obtain a set of localization solutions for the target. Maneuvering of either the target or the observer removes ambiguities and yields a single solution. We formalize TD-TMA as a least squares optimization problem, and solve it in polynomial time. Numerical results show that TD-TMA provides accurate localization performance in terms of both the target's kinematics and positioning, which are close to the posterior Cramér-Rao lower bound. Two sea experiments successfully demonstrate the effectiveness of the solution in real sea environments. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189545
- Volume :
- 71
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Vehicular Technology
- Publication Type :
- Academic Journal
- Accession number :
- 154862198
- Full Text :
- https://doi.org/10.1109/TVT.2021.3120201