Affiliation:
1. INESC TEC—Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
2. Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
Abstract
Accurate localization is a critical task in underwater navigation. Typical localization methods use a set of acoustic sensors and beacons to estimate relative position, whose geometric configuration has a significant impact on the localization accuracy. Although there is much effort in the literature to define optimal 2D or 3D sensor placement, the optimal sensor placement in irregular and constrained 3D surfaces, such as autonomous underwater vehicles (AUVs) or other structures, is not exploited for improving localization. Additionally, most applications using AUVs employ commercial acoustic modems or compact arrays, therefore the optimization of the placement of spatially independent sensors is not a considered issue. This article tackles acoustic sensor placement optimization in irregular and constrained 3D surfaces, for inverted ultra-short baseline (USBL) approaches, to improve localization accuracy. The implemented multi-objective memetic algorithm combines an evaluation of the geometric sensor’s configuration, using the Cramer-Rao Lower Bound (CRLB), with the incidence angle of the received signal. A case study is presented over a simulated homing and docking scenario to demonstrate the proposed optimization algorithm.
Funder
Portuguese Foundation for Science and Technology
K2D: Knowledge and Data from the Deep to Space
Operational Program for Competitiveness and Internationalization
MIT Portugal Program
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
1 articles.
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