• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.70-77
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• 2015

This paper proposes an application of unscented Kalman filter(UKF) for localization of an underwater robot. The method compares the bathymetric measurement from the robot with the seabed terrain information. For the measurement of bathymetric range to seabed, it uses a DVL which typically yields four range data together with velocity of the robot. Usual extended Kalman filter is not appropriated for application in case of terrain navigation, since it is not feasible to derive Jacobian for the bathymetric range measurement. Though particle filter(PF) is a nice solution which doesn't require Jacobian and can deal with non-linear and non-Gaussian system and measurement, it suffers from heavy computational burden. The paper compares the localization performance and the computation time of the UKF approach and PF approach. Though there have been some UKF methods which are used for underwater navigation, application of the UKF for bathymetric localization is rare. Especially, the proposed method uses only four range data whereas many of the bathymetric navigation methods have used multibeam sonar which yields hundreds of scanned range data. The result shows feasibility of the UKF approach for terrain-based navigation using small numbers of range data.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.353-356
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• 2001

본 논문은 수중 음향을 이용하여 다중경로(Multipath) 환경에서의 해저면 설치 수신기의 3차원 위치 추정 알고리즘을 제안한다. 해저면 설치 수신기의 위치 추정을 위해 기준 음원의 위치와 음원과 수신기 사이의 수평거리를 사용하며, 수평거리 산출 시 다중경로의 영향을 고려하기 위해 음선 이론 모델을 사용하여 음원과 수신기 사이의 수평거리를 추정한다. 또한 특이치 분해법(Singular Value Decomposition estimator; SVD)을 사용하여 설정된 3차원 위치 추정 문제의 최적해를 추정하며, 이를 사용하여 동해 해상 실험 자료를 분석한다. 논문의 연구 결과 제안된 해저면 설치 3원 위치 추정 알고리즘은 다중경로 환경에서도 좋은 성능을 나타냄을 알 수 있다.

• The Journal of the Acoustical Society of Korea
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• v.36 no.6
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• pp.419-424
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• 2017

TDoA (Time Difference-of Arrival) or DoA (Direction-of-Arrival) can be used for source localization. However, the localizing performance is dependent on relative position between source and receivers, receivers' geometric structure, sound speed, and so on. In this paper we propose a source localization method with enhanced performance that combines multiple information. The proposed method uses the time TDoA, DoA and sound speed as variables. LM (Levenberg-Marquardt) method which is one of nonlinear optimizations is applied. The performances of the proposed method was evaluated by simulation. As result of simulation, the proposed method has the lower average localizing error performance than the previous method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.69-76
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• 2020

The sound signal radiated from an underwater source is received by the hydrophone of the system, including multi-path time-delay and multi-path signal by sea surface and bottom reflection. The system using a time-delay between received signals for the source localization shows performance degradation due to incoherence by the multi-path propagation environment and the disturbance of a marine environment. Various types of array and signal processing have been used for robust source range and bearing estimation in this environment. In this paper, we use a line array composed of doublet array and an estimated time-delay correction method for robust localization performance in a multi-path propagation environment. Three doublet arrays are located on the same line, and the time-delay between signals received on each doublet array is estimated in a two-step procedure. The estimated time-delay value is obtained by the cross-correlation function and corrected by the interaction formula between the center-frequency of received signal and the geometry of the array with respect to aperture. By this proposed procedure, the range and bearing of source from array were calculated. In order to confirm the validity of the proposed method and array, we simulated localization and estimation using the Monte-Carlo method.

• The Journal of the Acoustical Society of Korea
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• v.19 no.7
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• pp.7-14
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• 2000

In this paper, we propose a near-field target localization algorithm using a bottom-mounted linear sensor amy in a multipath environment. In a multipath environment, the conic angles of a target signals through each path are different, and the position of the target can be estimated using these conic angles and the time difference of these signals. We derive equations on the relation of time-difference of signals and conic angles estimates under the far-field assumption, and estimate the position of target by simultaneously solving these equations. For a certain geometry of a target and the sensor array, there exist cases when the conic angles are very close. In such a case, we estimate the position of the target using an additional 1-D search.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.208-217
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• 2016

This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.

• The Journal of the Acoustical Society of Korea
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• v.18 no.2
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• pp.25-31
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• 1999

An array aperture synthesis technique is proposed. The proposed method does not require the condition that the overlapped hydrophones have the identical position in space to estimate the phase correction factors. while the existing ETAM algorithm does. Therefore the proposed method increases the available data applied to extend the effective aperture length of the towed array. From the numerical experiments, the proposed method can reduce the mean square error in estimating the direction of a target signal.

• The Journal of the Acoustical Society of Korea
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• v.38 no.1
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• pp.73-81
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• 2019

This paper proposes an acoustical inversion method using cepstrum analysis of underwater ship noise. Through the cepstrum analysis, multipath structure can be extracted from the recorded ship noise. The multipath structure comes from interferences between a direct arrival and multiple reflections from the sea surface and the bottom. The acoustic inversion is the optimization process to find the best parameters which show good correlation between cepstrums of the measured signal and the replica. The inversion method was applied to the underwater ship radiated noise data measured at Straits of Korea in order to estimate the acoustic center of the ship and the hydrophone position. The inversion results showed good agreement with the measured information.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.97-100
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• 2000

정합장처리(matched-field processing)는 실제 음향자료와 복제음장과의 공간 coherence를 이용한 음장의 역추정 방법이다. 광대역 스펙트럼을 가지는 음원의 경우 협대역 단일 주파수별로 정합장 출력을 계산한 후, 각 출력을 더하는 incoherent 광대역 정합장처리를 사용하였으나, 그 경우 수신기들과 주파수들간의 상호 공간과 주파수 정보를 사용치 못하므로 음원 위치추정 성능이 저하된다. 본 논문에서는 광대역 스펙트럼의 여러 주파수를 사용하여 확장된 CSDM(cross-spectral density matrix)을 구성하여 coherent 정합장처리를 구현하고, 각 정합장처리 기법에 대한 음원 위치추정 성능을 분석하였다.

• The Journal of the Acoustical Society of Korea
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• v.36 no.5
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• pp.293-299
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• 2017

Small unmanned platforms maneuvering underwater are the key naval future forces, utilized as the asymmetric power in war. As a method of detecting and identifying such platforms, we introduce a property estimation technique based on an iterative numerical analysis. The property estimation technique can estimate not only the position of a target but also its physical properties. Moreover, it will have a potential in detecting and classifying still target or multiple targets. In this study, we have conducted the property estimation of an small underwater target using the data acquired from the lake experiment. As a result, it shows that the properties of a small platform may be roughly estimated from the in site data even using one channel.