Observability Criteron Guidance for Passive Towed Array Sonar Tracking

Northardt, Tom

doi:10.1109/taes.2022.3154692

Cited by 5 publications

(4 citation statements)

References 16 publications

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“…So the system is unobservable if the hydrophone "array" only contains one element. This property is also proven by [10,31], but in a different way.…”

Section: Observability Analysismentioning

confidence: 71%

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Tightly Coupled INS/APS Passive Single Beacon Navigation

Zou¹,

Wang²,

Wu³

et al. 2023

Preprint

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Unlike aerial or terrestrial navigation, the Global Navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA/Range estimator using the model-based method and the tightly coupled INS/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS/OWTT navigation, the proposed method's performance is proven. The main contributions of this work are: 1. Propose a new architecture of underwater integrated navigation; 2. Apply the passive acoustic detecting method in the navigation to improve accuracy. 3. Apply the tightly coupled method to improve availability.

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“…So the system is unobservable if the hydrophone "array" only contains one element. This property is also proven by [10,31], but in a different way.…”

Section: Observability Analysismentioning

confidence: 71%

“…The measurement vector can be predicted by state vector as equations in (31) to (36) show. By combining the transformation equations, the state model of the tightly coupled model can be written in a concise form as (37).…”

Section: The Measurement Modelmentioning

confidence: 99%

Tightly Coupled INS/APS Passive Single Beacon Navigation

Zou¹,

Wang²,

Wu³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…So the system is unobservable if the hydrophone "array" only contains one element. This property is also proven by [10,35], but in a different way. 2.…”

Section: Observability Analysismentioning

confidence: 71%

Tightly Coupled INS/APS Passive Single Beacon Navigation

Zou

Wang

et al. 2023

Remote Sensing

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Unlike aerial or terrestrial navigation, the global navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low-SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA/range estimator using the model-based method and the tightly coupled INS/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS/OWTT navigation, the proposed method’s performance is proven. The main contributions of this work are: (1). Propose a new architecture of underwater integrated navigation; (2). Apply the passive acoustic detecting method in the navigation to improve accuracy. (3). Apply the tightly coupled method to improve availability.

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“…Tracking a target with only bearing measurement is known as bearing-only tracking (BOT). The BOT is indeed a challenging task, and the own-ship moving with constant velocity needs to execute a manoeuvre to ensure the observability of the tracking system [7] so that the tracking filter tracks the target and the estimation converges [8].…”

Section: Introductionmentioning

confidence: 99%

Assessment and Suitability Analysis of Water Quality of River Ganga in Patna, Bihar

Singh

Kumar

2022

Lecture Notes in Civil Engineering

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During a war situation, many times an underwater target motion analysis (TMA) is performed using bearing-only measurements, obtained from a sensor array, which is towed by an own-ship with the help of a connected cable. It is well known that the own-ship is required to perform a manoeuvre in order to make the system observable and localise the target successfully. During the maneuver, it is important to know the location of the sensor array with respect to the own-ship. This paper develops a dynamic model of a cable-sensor array system to localise the sensor array, which is towed behind a sea-surface vessel. We adopt a lumped-mass approach to represent the towed cable. The discretized cable elements are modelled as an interconnected rigid body, kinematically related to one another. The governing equations are derived by balancing the moments acting on each node. The derived dynamics are solved simultaneously for all the nodes to determine the orientation of the cable and sensor array. The position of the sensor array obtained from this proposed model will further be used by TMA algorithms to enhance the accuracy of the tracking system.

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Observability Criteron Guidance for Passive Towed Array Sonar Tracking

Cited by 5 publications

References 16 publications

Tightly Coupled INS/APS Passive Single Beacon Navigation

Tightly Coupled INS/APS Passive Single Beacon Navigation

Tightly Coupled INS/APS Passive Single Beacon Navigation

Assessment and Suitability Analysis of Water Quality of River Ganga in Patna, Bihar

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