Maneuvering Vehicle Localization with an Acoustic Long Baseline System

Auteurs-es

  • Zhao Li Harbin Engineering University

Résumé

This paper describes a localization approach which compensates for vehicle motion during the interrogation-reception time interval between the vehicle and transponders in an acoustic long baseline (LBL) system lake trial. In the lake trial, a maneuvering vehicle was localized by both GPS and the LBL system. When localizing the vehicle with the static-vehicle localization model, where the vehicle is assumed to be static during the interrogation-reception time interval, the averaged localization error was found as 19±14 cm by comparing acoustic localization results with GPS data. This error was significant larger than the expected 4 cm posterior uncertainties and the vehicle motion was thought as the main cause of this error. To address this problem, a motion-compensated inversion approach is developed base on Bayesian inversion algorithm which includes travel-time corrections as additional unknown parameters with prior determined by interpolating the vehicle location at interrogation time instants using static-vehicle localization model results. After processing the trial data with the motion-compensated inversion approach, the averaged localization error was decreased to 3.4±1.4 cm, much accurate than the error for the static inversion.

Biographie de l'auteur-e

Zhao Li, Harbin Engineering University

College of Underwater Acoustic Engineering

Fichiers supplémentaires

Publié-e

2015-08-19

Comment citer

1.
Li Z. Maneuvering Vehicle Localization with an Acoustic Long Baseline System. Canadian Acoustics [Internet]. 19 août 2015 [cité 13 mai 2026];43(3). Disponible à: https://jcaa.caa-aca.ca/index.php/jcaa/article/view/2750

Numéro

Vol. 43 No. 3 (2015)

Rubrique

Actes du congrès de la Semaine canadienne d'acoustique

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