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dc.contributor.authorMunafò, Andrea
dc.contributor.authorFerri, Gabriele
dc.contributor.authorLePage, Kevin D.
dc.contributor.authorGoldhahn, Ryan A.
dc.date.accessioned2019-06-19T09:40:38Z
dc.date.available2019-06-19T09:40:38Z
dc.date.issued2019/06
dc.identifier.govdocCMRE-PR-2019-062en_US
dc.identifier.urihttp://hdl.handle.net/20.500.12489/802
dc.description.abstractAutonomous Underwater Vehicles (AUVs) present a low-cost alternative or supplement to existing underwater surveillance networks. The NATO STO Centre for Maritime Research and Experimentation is developing collaborative autonomous behaviours to improve the performance of multi-static networks of AUVs. In this work we lay the foundation to combine a range-dependent acoustic model with a three dimensional measurement model for a linear array within a Bayesian framework. The resulting algorithm is able to provide the vehicles with an estimation of the target depth together with the more usual information based on a planar assumption (i.e. target latitude and longitude). Results are shown through simulations and as obtained from the REP16 sea trial where for the first time a preliminary implementation of the method was deployed in the C-OEX vehicles.en_US
dc.format8 p. : ill. ; digital, PDF fileen_US
dc.language.isoenen_US
dc.publisherCMREen_US
dc.sourceIn: OCEANS 2017 - Aberdeen, UK, 19-22 June 2017, doi: 10.1109/OCEANSE.2017.8084874en_US
dc.subjectAutonomous Underwater Vehicles (AUV)en_US
dc.subjectUnderwater surveillanceen_US
dc.subjectSensor networksen_US
dc.subjectAcoustic modelsen_US
dc.subjectBistatic sonaren_US
dc.subjectSonar arraysen_US
dc.subjectTarget localizationen_US
dc.subjectTarget depthen_US
dc.subjectAlgorithmsen_US
dc.subjectREP'16 Atlantic trialen_US
dc.titleAUV active perception: exploiting the water columnen_US
dc.typeReprint (PR)en_US
dc.typePapers and Articlesen_US


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