• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.170-176
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• 2017

In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.172-180
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• 2012

In multi-static sonar for detecting an underwater target, received signals contain the target echo, reverberation and clutter. Clutter and reverberation are main causes of increasing the false alarm rate. MRAL classifies received signals according to the spatial similarity, and it regards classified signal as reflected signals from a reflector. MRAL reduces the false alarm rate this way. However, the results of MRAL can have localization errors. In this paper, an MRAL post processing algorithm is proposed to reduce the localization errors with the least square (LS) method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.251-257
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• 2021

An underwater platform operating a passive sonar needs to acquire the target position to perform its mission. In an environment where sea-floor reflections exist, the position of a target can be estimated using the difference in the arrival time between the signals received through multipaths. In this paper, a method of localization for passive sonar is introduced, based on the EKF (Extended Kalman Filter) using the multipath time difference of arrival in underwater environments. TMA (Target Motion Analysis) requires accumulated measurements for long periods and has limitations on own-ship movement, allowing it to be used only in certain situations. The proposed method uses an EKF, which takes measurements of the time differences of the signal arrival in multipath environments. The method allows for target localization without restrictions on own-ship movement or the need for an observation time. To analyze the performance of the proposed method, simulation according to the distance and depth of the target was performed repeatedly, and the localization error according to the distance and water depth were analyzed. In addition, the correlation with the estimated position error was assessed by analyzing the arrival time difference according to the water depth.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.4 no.2
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• pp.155-159
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• 1999

The mini-weather buoy using newly developed Weather Observation Through Ambient Noise (WOTAN) technology is developed. The buoy uses the cellular phone system for communication between the mini-weather buoy and the receiving station. The developed mini-weather buoy was deployed near Kijang and the comparison with land observation station was good: the rms error for wind speed estimation from underwater ambient noise was about 1 m/s. The only shortcoming of developed mini-weather buoy is that the buoy must be within the range of the cellular phone system, but it can be easily solved when satellite phone system is available.

• The Journal of the Acoustical Society of Korea
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• v.19 no.2
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• pp.68-72
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• 2000

Matched field processing technique is performed by considering complex underwater environments. Specially, the performance of minimum variance processor is greatly degraded by eigenvalue problem. In this paper, we propose the minimum variance matched field processor using shaping matrix. This shaping matrix makes that the input covariance matrix is invertible and enhances the desired acoustic source component. It was proved effectively range/depth localization of the proposed method with simulated data and vertical array data collected by NATO SACLANT Center north of the island of Elba off the Italian west coast.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.11a
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• pp.169-172
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• 1999

Matched field processing technique is performed by considering complex underwater environments. Specially, tile performance of minimum variance processor is greatly degraded by eigenvalue problem. In this paper, we .propose the minimum valiance matched field processor using shaping matrix. This shaping matrix makes that the input covariance matrix is invertible and enhances the desired acoustic source component. It was proved effectively range/depth localization of the proposed method with vertical array data collected by NATO SACLANT Center north of the island of Elba off the Italian west coast.

• The Journal of the Acoustical Society of Korea
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• v.38 no.3
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• pp.302-307
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• 2019

In modern Anti-Submarine Warfare, there are various ways to locate a submarine in a two-dimensional space. For more effective tracking and attack against a submarine the depth of the target is a critical factor. However, it has been difficult to find out the depth of a submarine until now. In this paper a possible solution to the depth estimation of submarines is proposed utilizing DIFAR (Directional Frequency Analysis and Recording) sonobuoy information such as contact bearings at or prior to CPA (Closest Point of Approach) and the target's Doppler signals. The relative depth of the target is determined by applying the Pythagorean theorem to the slant range and horizontal range between the target and the hydrophone of a DIFAR sonobuoy. The slant range is calculated using the Doppler shift and the target's velocity. the horizontal range can be obtained by applying a simple trigonometric function for two consecutive contact bearings and the travel distance of the target. The simulation results show that the algorithm is subject to an elevation angle, which is determined by the relative depth and horizontal distance between the sonobuoy and target, and that a precise measurement of the Doppler shift is crucial.

• Proceedings of the Acoustical Society of Korea Conference
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• 1998.06c
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• pp.465-468
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• 1998

본 논문은 천해 상에서 목표물로부터 방사되어 견인 이동되는 하이드로폰을 통하여 입사되는 광대역 신호에 대한 DOA (Direction-Of Arrival) 추정기법을 제안한다. 견인 배열 어레이를 이용하는 경우 고정된 위치의 배열 하이드로폰을 사용하는 경우와는 달리 움직임에 의한 도플러 주파수 천이 값이 발생하며 배열 상에 입사되는 광대역 신호는 각 주파수성분에 따라 서로 다른 고유 벡터 영역을 갖게 된다. 따라서 주파수 성분별로 처리하여 평균 공간 스펙트럼을 구하여 입사각을 추정하는 기존의 Incoherent 처리기법은 심각한 추정 오차를 발생시킨다. 본 논문에서는 이러한 문제점을 해결하기 위하여 각 주파수 성분에 대한 고유한 벡터영역들을 Coherent 변환과정을 거쳐서 통합된 벡터영역으로 변환하여 공간 스펙트럼을 추정하고 이를 통하여 입사각을 추출한다. 시뮬레이션 결과를 통하여 Cherent 처리기법을 이용한 입사각 추정상의 우수한 성능을 확인하였다.

• The Journal of the Acoustical Society of Korea
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• v.38 no.2
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• pp.154-159
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• 2019

When measuring the radiating noise of an underwater moving source, the range information between the acoustic source and the receiver is an important evaluation factor, and the measurement standards such as a receiver position, a moving source depth and a speed are set. Although there is a method of using the cross correlation as a method of finding the range of the underwater moving source, this method requires a time synchronization process. In this paper, we proposed the method to estimate the range by comparing the Doppler frequency difference of the theoretically calculated multipath signal with the Doppler frequency difference of the multipath signal estimated from the received signal. The proposed method does not require a separate time synchronization process. Simulations were performed to verify the performance, and the ranging error of the proposed method reduced by about 95 % than that of the conventional method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1973-1980
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• 2017

In the case of a small UUV operating an active synthetic aperture sonar, various velocity disturbances may occur on the path due to the influence of external underwater environment, and this causes phase errors in coherent synthetic aperture processing, which has a large influence on the detected image. In this paper, when a periodic sinusoidal velocity disturbance is generated in the traveling direction, the phase generated by the round trip slope range at each position is estimated the cross correlation coefficient for multiple received signals and compensated the position variation in the overlapped DPC by the average value within the maximum allowable width. Through simulations, it has been confirmed that the images degraded by the velocity disturbance amplitude and fluctuating frequency of the UUV are removed from the false targets and the performance of azimuth resolution is improved by the proposed phase compensation method.