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Article

Velocity Measurement of Coherent Doppler Sonar Assisted by Frequency Shift, Kalman Filter and Linear Prediction

1
Navigation College, Dalian Maritime University, Dalian 116026, China
2
Graduate School of Maritime Sciences, Kobe University, Kobe 658-0022, Japan
*
Author to whom correspondence should be addressed.
Academic Editor: Cezary Specht
J. Mar. Sci. Eng. 2021, 9(2), 109; https://doi.org/10.3390/jmse9020109
Received: 7 January 2021 / Revised: 17 January 2021 / Accepted: 18 January 2021 / Published: 21 January 2021
(This article belongs to the Special Issue Marine Measurements: Theory, Methods and Applications)
Velocity is vital information for navigation and oceanic engineering. Coherent Doppler sonar is an accurate tool for velocity measurement, but its use is limited due to velocity ambiguity. Velocity measured by frequency shift has no velocity ambiguity, yet its measurement error is larger than that of coherent Doppler sonar. Therefore, coherent Doppler sonar assisted by frequency shift is used to accurately measure velocity without velocity ambiguity. However, the velocity measured by coherent Doppler sonar assisted by frequency shift is affected by impulsive noise. To decrease the impulsive noise, Kalman filter and linear prediction are proposed to improve the velocity sensing accuracy. In this method, the Kalman filter is used to decrease measurement error of velocity measured by frequency shift, and linear prediction is used to remove the impulsive noise generated by a wrong estimate of the integer ambiguity. Lab-based experiments were carried, and the results have shown that coherent Doppler sonar assisted by frequency shift, Kalman filter and linear prediction can provide accurate and precise velocity with short time delay in a large range of signal to noise ratio. View Full-Text
Keywords: velocity measurement; sonar; integer ambiguity; Kalman filter; linear prediction velocity measurement; sonar; integer ambiguity; Kalman filter; linear prediction
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MDPI and ACS Style

Liu, P.; Kouguchi, N.; Li, Y. Velocity Measurement of Coherent Doppler Sonar Assisted by Frequency Shift, Kalman Filter and Linear Prediction. J. Mar. Sci. Eng. 2021, 9, 109. https://doi.org/10.3390/jmse9020109

AMA Style

Liu P, Kouguchi N, Li Y. Velocity Measurement of Coherent Doppler Sonar Assisted by Frequency Shift, Kalman Filter and Linear Prediction. Journal of Marine Science and Engineering. 2021; 9(2):109. https://doi.org/10.3390/jmse9020109

Chicago/Turabian Style

Liu, Peng, Nobuyoshi Kouguchi, and Ying Li. 2021. "Velocity Measurement of Coherent Doppler Sonar Assisted by Frequency Shift, Kalman Filter and Linear Prediction" Journal of Marine Science and Engineering 9, no. 2: 109. https://doi.org/10.3390/jmse9020109

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