Synthetic baseline navigation using phase-coherent acoustic communication signals
Freitag, Lee E.
MetadataShow full item record
The development of a synthetic baseline navigation technique that self-localizes an autonomous underwater vehicle (AUV) using intermittent acoustic communications signals received by a single transducer is described, along with field results from in-ocean tests. The method uses the phase measurement at the output of a second-order phase-locked loop to create fine-scale pseudorange estimates in addition to, or in the absence of, a one-way travel time measurement based on the arrival time of the acoustic data packet. These range measurements are incorporated by an adaptive particle filter. This technique allows the vehicle navigation system to take advantage of multiple phase-derived range measurements made over the duration of a communication packet. These measurements, when incorporated with an appropriate filter and vehicle kinematic model, improve vehicle navigation at no additional cost in navigation-specific acoustic transmissions. This approach was demonstrated and evaluated with data collected at-sea using a REMUS 100 AUV (Hydroid, Inc., Pocasset, MA).
Author Posting. © Acoustical Society of America, 2019. This article is posted here by permission of Acoustical Society of America for personal use, not for redistribution. The definitive version was published in Journal of the Acoustical Society of America 146(6), (2019): 4831, doi: 10.1121/1.5137902.
Suggested CitationGallimore, E., Anderson, M., Freitag, L., & Terrill, E. (2019). Synthetic baseline navigation using phase-coherent acoustic communication signals. The Journal of the Acoustical Society of America, 146(6), 4831.
Showing items related by title, author, creator and subject.
Stephen, Ralph A.; Bolmer, S. Thompson; Udovydchenkov, Ilya A.; Worcester, Peter F.; Dzieciuch, Matthew A.; Andrew, Rex K.; Mercer, James A.; Colosi, John A.; Howe, Bruce M. (Acoustical Society of America, 2013-10)Ocean bottom seismometer observations at 5000 m depth during the long-range ocean acoustic propagation experiment in the North Pacific in 2004 show robust, coherent, late arrivals that are not readily explained by ocean ...
Foote, Kenneth G.; Hastings, Mardi C.; Ketten, Darlene R.; Lin, Ying-Tsong; Reidenberg, Joy S.; Rye, Kent (Acoustical Society of America, 2012-02)Potential physical effects of sonar transmissions on marine mammals were investigated by measuring pressure fields induced in a 119-kg, 211-cm-long, young adult male common dolphin (Delphinus delphis) cadaver. The specimen ...
Observationally constrained modeling of sound in curved ocean internal waves: Examination of deep ducting and surface ducting at short range Duda, Timothy F.; Lin, Ying-Tsong; Reeder, D. Benjamin (Acoustical Society of America, 2011-09)A study of 400 Hz sound focusing and ducting effects in a packet of curved nonlinear internal waves in shallow water is presented. Sound propagation roughly along the crests of the waves is simulated with a three-dimensional ...