Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method
College of Automation, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4442; https://doi.org/10.3390/s18124442
Received: 29 October 2018
/
Revised: 12 December 2018
/
Accepted: 12 December 2018
/
Published: 15 December 2018
(This article belongs to the Section Sensor Networks)
The cooperative localization of submerged autonomous underwater vehicles (AUVs) using the Time Difference of Arrival (TDOA) measurements of surface AUV sensors is an effective method for many applications of AUVs. Proper positioning of the sensors to maximize the observability of the AUVs is very critical for cooperative localization. In this paper, a novel method for obtaining the optimal formation of sensor AUVs has been presented for the three-dimensional (3D) cooperative localization of targets using the TDOA technique. An evaluation function for estimating the optimal formation has been derived based on Fisher Information Matrix (FIM) theory for a single target as well as multiple-target cooperative localization systems. An iterative stepping algorithm has been followed to solve the evaluation function and obtain the optimal positions of the sensors. The algorithm ensured that the computation complexity should remain limited, even when the number of sensor AUVs is increased. Various simulation examples are then presented to calculate the optimal formation for different systems/situations. The effect of the position of the reference sensor and operating depth of the target AUVs on the optimal formation of the sensors has also been studied, and conclusions are drawn. For implementation of the proposed method for more practical scenarios, a simulation example is also presented for cases when the target’s position is only known with uncertainty.
View Full-Text
Keywords:
cooperative localization; autonomous underwater vehicles (AUVs); Time Difference of Arrival (TDOA); optimal formation; Fisher Information Matrix
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Bo, X.; Razzaqi, A.A.; Wang, X. Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method. Sensors 2018, 18, 4442. https://doi.org/10.3390/s18124442
AMA Style
Bo X, Razzaqi AA, Wang X. Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method. Sensors. 2018; 18(12):4442. https://doi.org/10.3390/s18124442
Chicago/Turabian StyleBo, Xu, Asghar A. Razzaqi, and Xiaoyu Wang. 2018. "Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method" Sensors 18, no. 12: 4442. https://doi.org/10.3390/s18124442
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
