• The Journal of the Acoustical Society of Korea
• /
• v.43 no.3
• /
• pp.285-292
• /
• 2024

When calculating sonar detection probability, underwater acoustic uncertainty is assumed to be normal distributed with a standard deviation of 8 dB to 9 dB. However, due to the variability in experimental areas and ocean environmental conditions, predicting detection performance requires accounting for underwater acoustic uncertainty based on ocean experimental data. In this study, underwater acoustic uncertainty was determined using measured mid-frequency (2.3 kHz, 3 kHz) noise level and transmission loss data collected in the shallow water of the East Sea. After calculating the predictable probability of detection reflecting underwater acoustic uncertainty based on ocean experimental data, we compared it with the conventional detection probability results, as well as the predictable probability of detection results considering the uncertainty of the Rayleigh distribution and a negatively skewed distribution. As a result, we confirmed that differences in the detection area occur depending on each underwater acoustic uncertainty.

• The Journal of Korea Robotics Society
• /
• v.7 no.4
• /
• pp.231-242
• /
• 2012

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

• International Journal of Ocean System Engineering
• /
• v.1 no.2
• /
• pp.89-94
• /
• 2011

Underwater localization is a crucial capability for reliable operation of various types of underwater vehicles including submarines and underwater robots. However, sea water is almost impermeable to high-frequency electromagnetic waves, and thus absolute position fixes from Global Positioning System (GPS) are not available in the water. The use of acoustic telemetry systems such as Long Baseline (LBL) is a practical option for underwater localization. However, this telemetry network system needs to be pre-deployed and its availability cannot always be assumed. This study focuses on demonstrating the validity of terrain-based localization techniques in a GPS-denied underwater environment. Since terrain-based localization leads to a nonlinear estimation problem, nonlinear filtering methods are required to be employed. The extended Kalman filter (EKF) which is a widely used nonlinear filtering algorithm often shows limited performance under large initial uncertainty. The feasibility of using a particle filter is investigated, which can improve the performance and reliability of the terrain-based localization.

• The Journal of Korea Robotics Society
• /
• v.9 no.1
• /
• pp.28-38
• /
• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• The Journal of the Acoustical Society of Korea
• /
• v.39 no.1
• /
• pp.8-15
• /
• 2020

In this paper, we propose a frame synchronization algorithm for robust to the combined effects of large Doppler fluctuations and extended, time-varying multipath in the underwater acoustic communication. From the algorithm, we can recover a high timing error which is occurred from an acoustic propagation delay and uncertainty of oscillator between transmitter and receiver. In order to verify the performance of the synchronization algorithm, the lake trial results are used. The lake experiments are performed in a Gyeongcheonho located in Mungyeong-si, Gyeongsangbuk-do. We can see that the start position of frame is adjusted after the frame synchronization while the receiver moving.

• Journal of Ocean Engineering and Technology
• /
• v.11 no.4
• /
• pp.169-179
• /
• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.10
• /
• pp.116-122
• /
• 2016

This paper proposes a practical object shape reconstruction method using an underwater imaging sonar. In order to reconstruct the object shape, three methods are utilized. Firstly, the vertical field of view of imaging sonar is modified to narrow angle to reduce an uncertainty of estimated 3D position. The wide vertical field of view makes the incorrect estimation result about the 3D position of the underwater object. Secondly, simple noise filtering and range detection methods are designed to extract a distance from the sonar image. Lastly, a low pass filter is adopted to estimate a probability of voxel occupancy. To demonstrate the proposed methods, object shape reconstruction for three sample objects was performed in a basin and results are explained.