Modelling uncertainty in an underwater acoustic positioning system
Keywords:Autonomous underwater vehicles, Equipment testing, Hydrophones, Underwater acoustics, Acoustic localization, Acoustic transmission, Arrival time, Environmental factors, Hydrophone geometry, Localization accuracy, Source location, Test range, Timing errors, Underwater acoustic positioning
AbstractThis paper develops a ray-based travel-time inversion to simulate the accuracy of an active underwater acoustic localization system, and examines the localization accuracy as a function of various sources of error and geometric and environmental factors. The system considered here simulates localizing an autonomous underwater vehicle using arrival times of acoustic transmissions from an onboard source as measured at hydrophones distributed spatially over a test range. Since localization uncertainty is a function of source location, uncertainties are calculated for the source at a grid of locations over the areas of the test bed. Localization accuracy is considered as a function of timing errors, uncertainty in hydrophone locations, target depth, variations in sound-speed profile, and hydrophone geometry.
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