An acoustic navigation system
Hunt, Mary M.
Marquet, William M.
Moller, Donald A.
Peal, Kenneth R.
Smith, Woollcott K.
Spindel, Robert C.
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This report describes a system for underwater acoustic navigation developed, and in use, at the Woods Hole Oceanographic Institution. It includes a brief discussion of the electronic components, operation, mathematical analysis, and available computer programs. There is a series of supplementary Technical Memoranda containing more information on various aspects of the system. We believe that this kind of documentation is more flexible and better meets the needs of potential users than including all technical details in one large volume. These are not final or definitive reports; acoustic navigation capabilities will continue to evolve at W.H.O.I. for some time. Acoustic navigation provides a method of tracking a ship, and an underwater vehicle or instrument package (‘fish’), in the deep ocean. Acoustic devices attached to the ship and fish measure the length of time it takes a sound pulse to travel to acoustic transponders moored on the ocean floor. If the transponder positions and the average speed of sound are known, the ship or fish position can be found.
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Tracey, Brian H. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1992-09)An ultra-short baseline acoustic navigation system has been developed which is capable of determining bearing to a sound source with an error of less than 1° in typical operational conditions. The system has a demonstrated ...
Deffenbaugh, Max (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1994-02)This thesis presents the design and simulation of an acoustic listen-only navigation system for use in a time-varying high-multipath environment. The system uses a ray tracing model of sound propagation in a horizontally ...
Eustice, Ryan M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...