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Experimental Results of Underwater Cooperative Source Localization Using a Single Acoustic Vector Sensor
Laboratory of Robotics and Systems in Engineering and Science (LARSyS), University of Algarve, Campus de Gambelas, 8005-139 Faro, Portugal
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Received: 7 May 2013; in revised form: 29 June 2013 / Accepted: 1 July 2013 / Published: 12 July 2013
Abstract: This paper aims at estimating the azimuth, range and depth of a cooperative broadband acoustic source with a single vector sensor in a multipath underwater environment, where the received signal is assumed to be a linear combination of echoes of the source emitted waveform. A vector sensor is a device that measures the scalar acoustic pressure field and the vectorial acoustic particle velocity field at a single location in space. The amplitudes of the echoes in the vector sensor components allow one to determine their azimuth and elevation. Assuming that the environmental conditions of the channel are known, source range and depth are obtained from the estimates of elevation and relative time delays of the different echoes using a ray-based backpropagation algorithm. The proposed method is tested using simulated data and is further applied to experimental data from the Makai’05 experiment, where 8–14 kHz chirp signals were acquired by a vector sensor array. It is shown that for short ranges, the position of the source is estimated in agreement with the geometry of the experiment. The method is low computational demanding, thus well-suited to be used in mobile and light platforms, where space and power requirements are limited.
Keywords: vector sensors; source localization; ray backpropagation
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Felisberto, P.; Rodriguez, O.; Santos, P.; Ey, E.; Jesus, S.M. Experimental Results of Underwater Cooperative Source Localization Using a Single Acoustic Vector Sensor. Sensors 2013, 13, 8856-8878.
Felisberto P, Rodriguez O, Santos P, Ey E, Jesus SM. Experimental Results of Underwater Cooperative Source Localization Using a Single Acoustic Vector Sensor. Sensors. 2013; 13(7):8856-8878.
Felisberto, Paulo; Rodriguez, Orlando; Santos, Paulo; Ey, Emanuel; Jesus, Sérgio M. 2013. "Experimental Results of Underwater Cooperative Source Localization Using a Single Acoustic Vector Sensor." Sensors 13, no. 7: 8856-8878.