A relative-localization algorithm using incomplete pairwise distance measurements for underwater applications

  • Authors:

  • Kae Y. Foo;Philip R. Atkins

  • Affiliations:

  • School of Electronic, Electrical and Computer Engineering, University of Birmingham, Edgbaston, UK;School of Electronic, Electrical and Computer Engineering, University of Birmingham, Edgbaston, UK

  • Venue:
  • EURASIP Journal on Advances in Signal Processing - Special issue on advances in signal processing for maritime applications
  • Year:
  • 2010

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Abstract

The task of localizing underwater assets involves the relative localization of each unit using only pairwise distance measurements, usually obtained from time-of-arrival or time-delay-of-arrival measurements. In the fluctuating underwater environment, a complete set of pair-wise distance measurements can often be difficult to acquire, thus hindering a straightforward closed-form solution in deriving the assets' relative coordinates. An iterative multidimensional scaling approach is presented based upon a weighted-majorization algorithm that tolerates missing or inaccurate distance measurements. Substantial modifications are proposed to optimize the algorithm, while the effects of refractive propagation paths are considered. A parametric study of the algorithm based upon simulation results is shown. An acoustic field-trial was then carried out, presenting field measurements to highlight the practical implementation of this algorithm.