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首页> 外文会议>OCEANS 2016 MTS/IEEE Monterey >Underwater acoustic localization with uncertainties in propagation speed and time synchronization
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Underwater acoustic localization with uncertainties in propagation speed and time synchronization

机译：随着传播速度和时间同步的不确定性的水下声学定位

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摘要

Underwater acoustic localization is important for supporting underwater sensor networks. However, the hostile underwater environment makes it a very challenging mission. In this paper, we take uncertainties in sound propagation speed and time synchronization into account and propose a localization method. All anchors with known positions are synchronized, while all agents that need to perform localization are not synchronized with the anchors. The anchors measure the time of arrivals (ToAs) of the signals from the other anchors to estimate the sound propagation speed first. The agents measure the ToAs of the signals broadcast by the anchors, and combine the ToAs measured in two consecutive intervals to estimate the clock skews. After that the weight least squares (WLS) algorithm is used to calculate the agents' positions and clock offsets. Finally, the performance of the estimators of the clock skew, the clock offset, and the coordinates are refined via an alternative iteration process. The performance of the proposed estimators are evaluated through simulations.
机译：水下声学定位对于支持水下传感器网络非常重要。然而，敌对的水下环境使其成为一个非常具有挑战性的使命。在本文中，我们考虑了声音传播速度和时间同步的不确定性，并提出了一种本地化方法。具有已知位置的所有锚都同步，而需要执行本地化的所有代理都不与锚同步。锚点测量来自另一个锚点的信号的到达（TOA）以首先估计声音传播速度。该代理测量由锚点广播的信号的TOA，并将TOA以两次连续的间隔组合以估计时钟偏斜。之后，重量最小二乘（WLS）算法用于计算代理的位置和时钟偏移。最后，通过替代迭代过程改进时钟偏斜，时钟偏移和坐标的估计器的性能。通过模拟评估所提出的估计器的性能。

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