Research on the Path Plan for Searching Acoustic Beacon of Black Box - PowerPoint PPT Presentation

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Authors: Sun Sibo, Liu Qingyu, Meng Di, Fu Jin, and Wang Jingjing Affiliations: Harbin Engineering University, College of Underwater Acoustic Engineering, Harbin, China. Contact: sunsibo@hrbeu.edu.cn #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV 1. Research Background #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Applications: Military application: detect the underwater weapons. Civilian application, find and locate the black box. Existing research: Nonsynchronous localization method: the DOA based method and the TDOA based method. Path plan: usually use the comb path, and the comb interval is decided mainly on experience. #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV 2. The proposed path plan method #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV The planned path is composed of three steps. #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 1: Target searching using the comb path Designed comb interval:      2 2 R 2 ( R R ) ( h h h ) shu range al v sea al #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 2: Target approaching using the elliptical arc path Designed approaching direction:    k (1 k ) v v v l v k 0.7 0.5 0.3 0 Approaching 4460 5990 10120 - distance m m m Localization 37.3 15.8 7.4 - precision m m m #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 3: Precisely localization using the circular path Localization precision distribution for TDOA based method         1 T T H M ( M D M M D M TDOA x t t t 0 0 0       T T M D M M D M 1 1 1 2 2 2      T 1T M D M ) M c c c x #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 3: Precisely localization using the circular path Localization precision distribution for DOA based method       T T H M D M M D M DOA a a a b b b    T M D M L L L #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 3: Precisely localization using the circular path Result fusion:   2 2   TDOA DOA x x x       f TDOA DOA 2 2 2 2 TDOA DOA TDOA DOA Designed optimal radius: 2 tr[ H ( )]tr[ r H ( )] r  TDOA DOA r arg min  op tr[ H ( )] r tr[ H ( )] r  r r op TDOA DOA #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 3: Precisely localization using the circular path Optimal radius: 400 m Best localization precision: 2.90 m #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV 3. Simulation #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 1 Designed comb interval: 6753 m #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Step 2 and Step 3 Designed optimal radius: 210 m Localization error: 3.23 m #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV 4. Conclusion #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV The planned path is composed of three steps. Step 1: Target searching using the comb path. Comb interval design Step 2: Target approaching using the elliptical arc path. Approaching direction Step 3: Precisely localization using the circular path. localization precision analysis Result fusion Optimal radius design #UDT2019

Research on the Path Plan for Searching Acoustic Beacon of Black Box based on AUV Thanks ! #UDT2019